1 files changed, 33 insertions, 33 deletions

diff --git a/extern/bullet/BulletDynamics/ConstraintSolver/JacobianEntry.h b/extern/bullet/BulletDynamics/ConstraintSolver/JacobianEntry.h
index ebf58c34485..3a89f2ad1fd 100644
--- a/extern/bullet/BulletDynamics/ConstraintSolver/JacobianEntry.h
+++ b/extern/bullet/BulletDynamics/ConstraintSolver/JacobianEntry.h
@@ -16,7 +16,7 @@
 
 
 //notes:
-// Another memory optimization would be to store m_MbJ in the remaining 3 w components
+// Another memory optimization would be to store m_1MinvJt in the remaining 3 w components
 // which makes the JacobianEntry memory layout 16 bytes
 // if you only are interested in angular part, just feed massInvA and massInvB zero
 
@@ -32,59 +32,59 @@ public:
 		const SimdMatrix3x3& world2A,
 		const SimdMatrix3x3& world2B,
 		const SimdVector3& rel_pos1,const SimdVector3& rel_pos2,
-		const SimdVector3& normal,
+		const SimdVector3& jointAxis,
 		const SimdVector3& inertiaInvA, 
 		const SimdScalar massInvA,
 		const SimdVector3& inertiaInvB,
 		const SimdScalar massInvB)
-		:m_normalAxis(normal)
+		:m_jointAxis(jointAxis)
 	{
-		m_aJ = world2A*(rel_pos1.cross(normal));
-		m_bJ = world2B*(rel_pos2.cross(normal));
-		m_MaJ	= inertiaInvA * m_aJ;
-		m_MbJ = inertiaInvB * m_bJ;
-		m_jacDiagAB = massInvA + m_MaJ.dot(m_aJ) + massInvB + m_MbJ.dot(m_bJ);
+		m_aJ = world2A*(rel_pos1.cross(m_jointAxis));
+		m_bJ = world2B*(rel_pos2.cross(m_jointAxis));
+		m_0MinvJt	= inertiaInvA * m_aJ;
+		m_1MinvJt = inertiaInvB * m_bJ;
+		m_Adiag = massInvA + m_0MinvJt.dot(m_aJ) + massInvB + m_1MinvJt.dot(m_bJ);
 	}
 
 		//angular constraint between two different rigidbodies
-	JacobianEntry(const SimdVector3& normal,
+	JacobianEntry(const SimdVector3& jointAxis,
 		const SimdMatrix3x3& world2A,
 		const SimdMatrix3x3& world2B,
 		const SimdVector3& inertiaInvA,
 		const SimdVector3& inertiaInvB)
-		:m_normalAxis(normal)
+		:m_jointAxis(m_jointAxis)
 	{
-		m_aJ= world2A*normal;
-		m_bJ = world2B*-normal;
-		m_MaJ	= inertiaInvA * m_aJ;
-		m_MbJ = inertiaInvB * m_bJ;
-		m_jacDiagAB =  m_MaJ.dot(m_aJ) + m_MbJ.dot(m_bJ);
+		m_aJ= world2A*m_jointAxis;
+		m_bJ = world2B*-m_jointAxis;
+		m_0MinvJt	= inertiaInvA * m_aJ;
+		m_1MinvJt = inertiaInvB * m_bJ;
+		m_Adiag =  m_0MinvJt.dot(m_aJ) + m_1MinvJt.dot(m_bJ);
 	}
 
 	//constraint on one rigidbody
 	JacobianEntry(
 		const SimdMatrix3x3& world2A,
 		const SimdVector3& rel_pos1,const SimdVector3& rel_pos2,
-		const SimdVector3& normal,
+		const SimdVector3& jointAxis,
 		const SimdVector3& inertiaInvA, 
 		const SimdScalar massInvA)
-		:m_normalAxis(normal)
+		:m_jointAxis(jointAxis)
 	{
-		m_aJ= world2A*(rel_pos1.cross(normal));
-		m_bJ = world2A*(rel_pos2.cross(normal));
-		m_MaJ	= inertiaInvA * m_aJ;
-		m_MbJ = SimdVector3(0.f,0.f,0.f);
-		m_jacDiagAB = massInvA + m_MaJ.dot(m_aJ);
+		m_aJ= world2A*(rel_pos1.cross(m_jointAxis));
+		m_bJ = world2A*(rel_pos2.cross(m_jointAxis));
+		m_0MinvJt	= inertiaInvA * m_aJ;
+		m_1MinvJt = SimdVector3(0.f,0.f,0.f);
+		m_Adiag = massInvA + m_0MinvJt.dot(m_aJ);
 	}
 
-	SimdScalar	getDiagonal() const { return m_jacDiagAB; }
+	SimdScalar	getDiagonal() const { return m_Adiag; }
 
 	// for two constraints on the same rigidbody (for example vehicle friction)
 	SimdScalar	getNonDiagonal(const JacobianEntry& jacB, const SimdScalar massInvA) const
 	{
 		const JacobianEntry& jacA = *this;
-		SimdScalar lin = massInvA * jacA.m_normalAxis.dot(jacB.m_normalAxis);
-		SimdScalar ang = jacA.m_MaJ.dot(jacB.m_aJ);
+		SimdScalar lin = massInvA * jacA.m_jointAxis.dot(jacB.m_jointAxis);
+		SimdScalar ang = jacA.m_0MinvJt.dot(jacB.m_aJ);
 		return lin + ang;
 	}
 
@@ -94,9 +94,9 @@ public:
 	SimdScalar	getNonDiagonal(const JacobianEntry& jacB,const SimdScalar massInvA,const SimdScalar massInvB) const
 	{
 		const JacobianEntry& jacA = *this;
-		SimdVector3 lin = jacA.m_normalAxis * jacB.m_normalAxis;
-		SimdVector3 ang0 = jacA.m_MaJ * jacB.m_aJ;
-		SimdVector3 ang1 = jacA.m_MbJ * jacB.m_bJ;
+		SimdVector3 lin = jacA.m_jointAxis* jacB.m_jointAxis;
+		SimdVector3 ang0 = jacA.m_0MinvJt * jacB.m_aJ;
+		SimdVector3 ang1 = jacA.m_1MinvJt * jacB.m_bJ;
 		SimdVector3 lin0 = massInvA * lin ;
 		SimdVector3 lin1 = massInvB * lin;
 		SimdVector3 sum = ang0+ang1+lin0+lin1;
@@ -108,7 +108,7 @@ public:
 		SimdVector3 linrel = linvelA - linvelB;
 		SimdVector3 angvela  = angvelA * m_aJ;
 		SimdVector3 angvelb  = angvelB * m_bJ;
-		linrel *= m_normalAxis;
+		linrel *= m_jointAxis;
 		angvela += angvelb;
 		angvela += linrel;
 		SimdScalar rel_vel2 = angvela[0]+angvela[1]+angvela[2];
@@ -116,13 +116,13 @@ public:
 	}
 //private:
 
-	SimdVector3	m_normalAxis;
+	SimdVector3	m_jointAxis;
 	SimdVector3	m_aJ;
 	SimdVector3	m_bJ;
-	SimdVector3	m_MaJ;
-	SimdVector3	m_MbJ;
+	SimdVector3	m_0MinvJt;
+	SimdVector3	m_1MinvJt;
 	//Optimization: can be stored in the w/last component of one of the vectors
-	SimdScalar	m_jacDiagAB;
+	SimdScalar	m_Adiag;
 
 };