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/btContactConstraint.cpp
+++ b/src/BulletDynamics/ConstraintSolver/btContactConstraint.cpp
@@ -52,8 +52,7 @@ void resolveSingleBilateral(btRigidBody& body1, const btVector3& pos1,
 	btVector3 vel = vel1 - vel2;
 	

-	  btJacobianEntry jac(body1.getCenterOfMassTransform().getBasis().transpose(),
-		body2.getCenterOfMassTransform().getBasis().transpose(),
+	  btJacobianEntry jac(
 		rel_pos1,rel_pos2,normal,body1.getInvInertiaDiagLocal(),body1.getInvMass(),
 		body2.getInvInertiaDiagLocal(),body2.getInvMass());