swap m_x and m_q in softbody to align with rendering convention

2019-08-26 16:18:56 -07:00
parent 7c39052163
commit e73f70efa2
6 changed files with 16 additions and 16 deletions
--- a/src/BulletSoftBody/btDeformableCorotatedForce.h
+++ b/src/BulletSoftBody/btDeformableCorotatedForce.h
@@ -92,7 +92,7 @@ public:
    {
        // btMatrix3x3 JFinvT = F.adjoint();
        btScalar J = F.determinant();
-        P =  F.adjoint() * (m_lambda * (J-1));
+        P =  F.adjoint().transpose() * (m_lambda * (J-1));
        if (m_mu > SIMD_EPSILON)
        {
            btMatrix3x3 R,S;