From 4d3dc172d31839da2e0c7e101a414a85db012182 Mon Sep 17 00:00:00 2001 From: Irlan Date: Mon, 27 Mar 2017 08:28:56 -0300 Subject: [PATCH] fix --- src/bounce/dynamics/joints/revolute_joint.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/bounce/dynamics/joints/revolute_joint.cpp b/src/bounce/dynamics/joints/revolute_joint.cpp index d91d979..c0ca8e1 100644 --- a/src/bounce/dynamics/joints/revolute_joint.cpp +++ b/src/bounce/dynamics/joints/revolute_joint.cpp @@ -610,9 +610,9 @@ bool b3RevoluteJoint::SolvePositionConstraints(const b3SolverData* data) float32 angularError = 0.0f; { - b3Quat fA = m_referenceRotation * qA * m_localRotationA; - b3Quat fB = m_referenceRotation * qB * m_localRotationB; - b3Quat q = b3Conjugate(fA) * fB; + b3Quat fA = qA * m_localRotationA; + b3Quat fB = qB * m_localRotationB; + b3Quat q = b3Conjugate(m_referenceRotation) * b3Conjugate(fA) * fB; b3Vec2 C = P_hinge * q_to_v(q);