Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

bug fixes in constraints projections; cpplized various functions

Browse Source
This commit is contained in:
Xuchen Han
2019-07-09 14:26:04 -07:00
parent 786b0436ec
commit 13d4e1cc2b
12 changed files with 450 additions and 263 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
src/BulletSoftBody/btSoftBodyInternals.h
View File

@@ -880,7 +880,7 @@ struct btSoftColliders
const btTransform& wtr = m_rigidBody ? m_rigidBody->getWorldTransform() : m_colObj1Wrap->getCollisionObject()->getWorldTransform();
static const btMatrix3x3 iwiStatic(0, 0, 0, 0, 0, 0, 0, 0, 0);
const btMatrix3x3& iwi = m_rigidBody ? m_rigidBody->getInvInertiaTensorWorld() : iwiStatic;
const btVector3 ra = n.m_x - wtr.getOrigin();
const btVector3 ra = n.m_q - wtr.getOrigin();
const btVector3 va = m_rigidBody ? m_rigidBody->getVelocityInLocalPoint(ra) * psb->m_sst.sdt : btVector3(0, 0, 0);
const btVector3 vb = n.m_x - n.m_q;
const btVector3 vr = vb - va;