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

git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@287 92aac97c-a6ce-11dd-a772-7fcde58d38e6

Browse Source
This commit is contained in:
chappuis.daniel 2010-02-23 08:38:58 +00:00
parent a13e762e30
commit f3eee68293
1 changed files with 2 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
sources/reactphysics3d/constraint/Contact.cpp
View File

@ -98,6 +98,8 @@ void Contact::evaluate(double dt) {
body2AngularJacobian.setValue(i, 2, r2CrossFrictionVector.getZ()); body2AngularJacobian.setValue(i, 2, r2CrossFrictionVector.getZ());
} }
// TODO : Compute the auxiliary rows and cols
// Computation of the error vector // Computation of the error vector
double kFps = 1.0 / dt; double kFps = 1.0 / dt;
double kCorrection = kErp * kFps; // Computation of the error coefficient double kCorrection = kErp * kFps; // Computation of the error coefficient