updated Bullet sequential impulse constraint solver, so it matches 100% ODE PGS quickstep solver innerloop, mainly by renaming variables...

2008-11-26 00:27:35 +00:00
parent 09aa2dbbe7
commit 82047e601e
28 changed files with 646 additions and 1135 deletions
--- a/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp
+++ b/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp
@@ -94,8 +94,6 @@ void	btConeTwistConstraint::buildJacobian()
 		for (int i=0;i<3;i++)
 		{
 			new (&m_jac[i]) btJacobianEntry(
-				m_rbA.getCenterOfMassTransform().getBasis().transpose(),
-				m_rbB.getCenterOfMassTransform().getBasis().transpose(),
 				pivotAInW - m_rbA.getCenterOfMassPosition(),
 				pivotBInW - m_rbB.getCenterOfMassPosition(),
 				normal[i],