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Correction of a bug in the constraint solver

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git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@345 92aac97c-a6ce-11dd-a772-7fcde58d38e6
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chappuis.daniel 2010-07-06 12:46:04 +00:00
parent 7b19ce4ef8
commit df4f379dde
1 changed files with 2 additions and 2 deletions
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4
sources/reactphysics3d/engine/ConstraintSolver.cpp
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@ -256,8 +256,8 @@ void ConstraintSolver::computeVectorVconstraint(double dt) {
for (uint i=0; i<nbConstraints; i++) { for (uint i=0; i<nbConstraints; i++) {
indexBody1 = bodyNumberMapping[bodyMapping[i][0]]; indexBody1 = bodyNumberMapping[bodyMapping[i][0]];
indexBody2 = bodyNumberMapping[bodyMapping[i][1]]; indexBody2 = bodyNumberMapping[bodyMapping[i][1]];
Vconstraint[indexBody1] = Vconstraint[indexBody1] + (B_sp[indexBody1][i] * lambda.getValue(i)).getVector() * dt; Vconstraint[indexBody1] = Vconstraint[indexBody1] + (B_sp[0][i] * lambda.getValue(i)).getVector() * dt;
Vconstraint[indexBody2] = Vconstraint[indexBody2] +(B_sp[indexBody2][i] * lambda.getValue(i)).getVector() * dt; Vconstraint[indexBody2] = Vconstraint[indexBody2] + (B_sp[1][i] * lambda.getValue(i)).getVector() * dt;
} }
} }