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/btSliderConstraint.cpp
+++ b/src/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp
@@ -119,8 +119,6 @@ void btSliderConstraint::buildJacobianInt(btRigidBody& rbA, btRigidBody& rbB, co
    {
 		normalWorld = m_calculatedTransformA.getBasis().getColumn(i);
 		new (&m_jacLin[i]) btJacobianEntry(
-			rbA.getCenterOfMassTransform().getBasis().transpose(),
-			rbB.getCenterOfMassTransform().getBasis().transpose(),
 			m_relPosA,
 			m_relPosB,
 			normalWorld,