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dgregorius: removed wrong normalization

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dondickied
2006-06-17 11:37:07 +00:00
parent 2cf71b51a7
commit f73244b36a
1 changed files with 3 additions and 1 deletions
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4
BulletDynamics/ConstraintSolver/Generic6DofConstraint.cpp
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@@ -79,6 +79,7 @@ void Generic6DofConstraint::BuildJacobian()
SimdVector3 axisA = m_rbA.getCenterOfMassTransform().getBasis() * m_frameInA.getBasis().getColumn( kAxisA[i] );
SimdVector3 axisB = m_rbB.getCenterOfMassTransform().getBasis() * m_frameInB.getBasis().getColumn( kAxisB[i] );
// Dirk: This is IMO mathematically the correct way, but we should consider axisA and axisB being near parallel
SimdVector3 axis = kSign[i] * axisA.cross(axisB);
new (&m_jacAng[i]) JacobianEntry(axis,
@@ -152,7 +153,8 @@ void Generic6DofConstraint::SolveConstraint(SimdScalar timeStep)
//impulse
SimdScalar impulse = -(tau*rel_pos/timeStep + damping*rel_vel) * jacDiagABInv;
SimdVector3 axis = kSign[i] * axisA.cross(axisB).normalized();
// Dirk: Not needed - we could actually project onto Jacobian entry here (same as above)
SimdVector3 axis = kSign[i] * axisA.cross(axisB);
SimdVector3 impulse_vector = axis * impulse;
m_rbA.applyTorqueImpulse( impulse_vector);