From 340236ee29472aae9c13ec901ac91bb1e07a9d2c Mon Sep 17 00:00:00 2001 From: Jeongseok Lee Date: Tue, 7 Aug 2018 15:16:46 -0700 Subject: [PATCH] Fix copy & paste mistake --- .../Featherstone/btMultiBodyMLCPConstraintSolver.cpp | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/src/BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.cpp b/src/BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.cpp index 8242b7b27..338e8af0a 100644 --- a/src/BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.cpp +++ b/src/BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.cpp @@ -106,8 +106,9 @@ static btScalar computeConstraintMatrixDiagElementMultiBody( const btSolverBody* solverBodyB = &solverBodyPool[solverBodyIdB]; const btScalar invMassB = solverBodyB->m_originalBody ? solverBodyB->m_originalBody->getInvMass() : 0.0; ret += computeDeltaVelocityInConstraintSpace( - constraint.m_relpos1CrossNormal, invMassB, - constraint.m_angularComponentA); + constraint.m_relpos2CrossNormal, + invMassB, + constraint.m_angularComponentB); } return ret;