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contact normal should point from B to A (to be consistent with Bullet 2.x)

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stringify: pre-allocate bigger buffer (10MB, workaround)
This commit is contained in:
erwincoumans
2013-08-10 12:08:15 -07:00
parent d158507c03
commit ac23dbc4be
17 changed files with 220 additions and 209 deletions
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7
src/Bullet3Dynamics/ConstraintSolver/b3PgsJacobiSolver.cpp
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@@ -118,9 +118,8 @@ void getContactPoint(b3Contact4* contact, int contactIndex, b3ContactPoint& poin
pointOut.m_contactMotion1 = 0.f;
pointOut.m_contactMotion2 = 0.f;
pointOut.m_distance = contact->getPenetration(contactIndex);//??0.01f
b3Vector3 n = contact->m_worldNormal;
b3Vector3 normalOnB(-n);
normalOnB.normalize();
b3Vector3 normalOnB = contact->m_worldNormalOnB;
normalOnB.normalize();//is this needed?
b3Vector3 l1,l2;
b3PlaneSpace1(normalOnB,l1,l2);
@@ -132,7 +131,7 @@ void getContactPoint(b3Contact4* contact, int contactIndex, b3ContactPoint& poin
pointOut.m_lateralFrictionInitialized = true;
b3Vector3 worldPosB = contact->m_worldPos[contactIndex];
b3Vector3 worldPosB = contact->m_worldPosB[contactIndex];
pointOut.m_positionWorldOnB = worldPosB;
pointOut.m_positionWorldOnA = worldPosB+normalOnB*pointOut.m_distance;
}