From bc3b920995055a6e4bbe78b3a3d23ab1479293ee Mon Sep 17 00:00:00 2001
From: "erwin.coumans" <erwin.coumans@08e121b0-ae19-0410-a57b-3be3395fd4fd>
Date: Thu, 11 Nov 2010 22:18:02 +0000
Subject: [PATCH] clarified the comments for set/getting of an OpenGL submatrix
 Thanks to Mihail Isakov, see Issue 452

Fix sleeping/deactivation issue with kinematic objects, see Issue 442
---
 .../CollisionDispatch/btSimulationIslandManager.cpp         | 6 +++---
 src/LinearMath/btMatrix3x3.h                                | 6 +++---
 2 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp b/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp
index 44e762823..bb2a7f239 100644
--- a/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp
+++ b/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp
@@ -392,15 +392,15 @@ void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,
 			int islandId = getUnionFind().getElement(startIslandIndex).m_id;
 
 
-			   bool islandSleeping = false;
+			   bool islandSleeping = true;
 	                
 					for (endIslandIndex = startIslandIndex;(endIslandIndex<numElem) && (getUnionFind().getElement(endIslandIndex).m_id == islandId);endIslandIndex++)
 					{
 							int i = getUnionFind().getElement(endIslandIndex).m_sz;
 							btCollisionObject* colObj0 = collisionObjects[i];
 							m_islandBodies.push_back(colObj0);
-							if (!colObj0->isActive())
-									islandSleeping = true;
+							if (colObj0->isActive())
+									islandSleeping = false;
 					}
 	                
 
diff --git a/src/LinearMath/btMatrix3x3.h b/src/LinearMath/btMatrix3x3.h
index 3c37f6e4f..bb4d97868 100644
--- a/src/LinearMath/btMatrix3x3.h
+++ b/src/LinearMath/btMatrix3x3.h
@@ -110,8 +110,8 @@ public:
 	* Equivilant to this = this * m */
 	btMatrix3x3& operator*=(const btMatrix3x3& m); 
 
-	/** @brief Set from a carray of btScalars 
-	*  @param m A pointer to the beginning of an array of 9 btScalars */
+	/** @brief Set from the rotational part of a 4x4 OpenGL matrix
+	*  @param m A pointer to the beginning of the array of scalars*/
 	void setFromOpenGLSubMatrix(const btScalar *m)
 	{
 		m_el[0].setValue(m[0],m[4],m[8]);
@@ -208,7 +208,7 @@ public:
 		return identityMatrix;
 	}
 
-	/**@brief Fill the values of the matrix into a 9 element array 
+	/**@brief Fill the rotational part of an OpenGL matrix and clear the shear/perspective
 	* @param m The array to be filled */
 	void getOpenGLSubMatrix(btScalar *m) const 
 	{