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/btPoint2PointConstraint.cpp
+++ b/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp
@@ -48,8 +48,7 @@ void	btPoint2PointConstraint::buildJacobian()
 	{
 		normal[i] = 1;
 		new (&m_jac[i]) btJacobianEntry(
-			m_rbA.getCenterOfMassTransform().getBasis().transpose(),
-			m_rbB.getCenterOfMassTransform().getBasis().transpose(),
+
 			m_rbA.getCenterOfMassTransform()*m_pivotInA - m_rbA.getCenterOfMassPosition(),
 			m_rbB.getCenterOfMassTransform()*m_pivotInB - m_rbB.getCenterOfMassPosition(),
 			normal,