Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

added a paper name for info in exponential map, part of the Bullet motion equation

Browse Source
This commit is contained in:
ejcoumans
2008-01-28 02:09:17 +00:00
parent 923f1411d7
commit d3e4d87521
1 changed files with 3 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
src/LinearMath/btTransformUtil.h
View File

@@ -70,7 +70,9 @@ public:
predictedOrn += (angvel * predictedOrn) * (timeStep * btScalar(0.5)); predictedOrn += (angvel * predictedOrn) * (timeStep * btScalar(0.5));
predictedOrn.normalize(); predictedOrn.normalize();
#else #else
//exponential map //Exponential map
//google for "Practical Parameterization of Rotations Using the Exponential Map", F. Sebastian Grassia
btVector3 axis; btVector3 axis;
btScalar fAngle = angvel.length(); btScalar fAngle = angvel.length();
//limit the angular motion //limit the angular motion