mrq/reactphysics3d
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Fix wrong operator in ContactSolverSystem::initializeForIsland()

Browse Source
This commit is contained in:
jingqi 2021-08-06 12:19:46 +08:00
parent 53acd891dc
commit d5c1578f53
1 changed files with 4 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
src/systems/ContactSolverSystem.cpp
View File

@ -205,13 +205,13 @@ void ContactSolverSystem::initializeForIsland(uint islandIndex) {
mContactConstraints[mNbContactManifolds].frictionPointBody2.z += p2.z;
// Compute the velocity difference
//deltaV = v2 + w2.cross(mContactPoints[mNbContactPoints].r2) - v1 - w1.cross(mContactPoints[mNbContactPoints].r1);
// deltaV = v2 + w2.cross(mContactPoints[mNbContactPoints].r2) - v1 - w1.cross(mContactPoints[mNbContactPoints].r1);
Vector3 deltaV(v2.x + w2.y * mContactPoints[mNbContactPoints].r2.z - w2.z * mContactPoints[mNbContactPoints].r2.y
- v1.x - w1.y * mContactPoints[mNbContactPoints].r1.z - w1.z * mContactPoints[mNbContactPoints].r1.y,
- v1.x - w1.y * mContactPoints[mNbContactPoints].r1.z + w1.z * mContactPoints[mNbContactPoints].r1.y,
v2.y + w2.z * mContactPoints[mNbContactPoints].r2.x - w2.x * mContactPoints[mNbContactPoints].r2.z
- v1.y - w1.z * mContactPoints[mNbContactPoints].r1.x - w1.x * mContactPoints[mNbContactPoints].r1.z,
- v1.y - w1.z * mContactPoints[mNbContactPoints].r1.x + w1.x * mContactPoints[mNbContactPoints].r1.z,
v2.z + w2.x * mContactPoints[mNbContactPoints].r2.y - w2.y * mContactPoints[mNbContactPoints].r2.x
- v1.z - w1.x * mContactPoints[mNbContactPoints].r1.y - w1.y * mContactPoints[mNbContactPoints].r1.x);
- v1.z - w1.x * mContactPoints[mNbContactPoints].r1.y + w1.y * mContactPoints[mNbContactPoints].r1.x);
// r1CrossN = mContactPoints[mNbContactPoints].r1.cross(mContactPoints[mNbContactPoints].normal);
Vector3 r1CrossN(mContactPoints[mNbContactPoints].r1.y * mContactPoints[mNbContactPoints].normal.z -