diff options
Diffstat (limited to 'extern/bullet2/src/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp')
| -rwxr-xr-x[-rw-r--r--] | extern/bullet2/src/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp | 7 |
1 files changed, 7 insertions, 0 deletions
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp index b69f46da1b4..aff9f27f594 100644..100755 --- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp @@ -426,6 +426,8 @@ void btSliderConstraint::getInfo2NonVirtual(btConstraintInfo2* info, const btTra for (i=0; i<3; i++) info->m_J2angularAxis[s3+i] = -tmpB[i]; for (i=0; i<3; i++) info->m_J1linearAxis[s2+i] = p[i]; for (i=0; i<3; i++) info->m_J1linearAxis[s3+i] = q[i]; + for (i=0; i<3; i++) info->m_J2linearAxis[s2+i] = -p[i]; + for (i=0; i<3; i++) info->m_J2linearAxis[s3+i] = -q[i]; } else { // old way - maybe incorrect if bodies are not on the slider axis @@ -440,6 +442,8 @@ void btSliderConstraint::getInfo2NonVirtual(btConstraintInfo2* info, const btTra for (i=0; i<3; i++) info->m_J1linearAxis[s2+i] = p[i]; for (i=0; i<3; i++) info->m_J1linearAxis[s3+i] = q[i]; + for (i=0; i<3; i++) info->m_J2linearAxis[s2+i] = -p[i]; + for (i=0; i<3; i++) info->m_J2linearAxis[s3+i] = -q[i]; } // compute two elements of right hand side @@ -479,6 +483,9 @@ void btSliderConstraint::getInfo2NonVirtual(btConstraintInfo2* info, const btTra info->m_J1linearAxis[srow+0] = ax1[0]; info->m_J1linearAxis[srow+1] = ax1[1]; info->m_J1linearAxis[srow+2] = ax1[2]; + info->m_J2linearAxis[srow+0] = -ax1[0]; + info->m_J2linearAxis[srow+1] = -ax1[1]; + info->m_J2linearAxis[srow+2] = -ax1[2]; // linear torque decoupling step: // // we have to be careful that the linear constraint forces (+/- ax1) applied to the two bodies |