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/btGeneric6DofConstraint.cpp
+++ b/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
@@ -345,8 +345,7 @@ void btGeneric6DofConstraint::buildLinearJacobian(
    const btVector3 & pivotAInW,const btVector3 & pivotBInW)
 {
    new (&jacLinear) btJacobianEntry(
-        m_rbA.getCenterOfMassTransform().getBasis().transpose(),
-        m_rbB.getCenterOfMassTransform().getBasis().transpose(),
+
        pivotAInW - m_rbA.getCenterOfMassPosition(),
        pivotBInW - m_rbB.getCenterOfMassPosition(),
        normalWorld,