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fix

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This commit is contained in:
Irlan
2017-03-27 08:28:56 -03:00
parent 3e716c3658
commit 4d3dc172d3
1 changed files with 3 additions and 3 deletions
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6
src/bounce/dynamics/joints/revolute_joint.cpp
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@@ -610,9 +610,9 @@ bool b3RevoluteJoint::SolvePositionConstraints(const b3SolverData* data)
float32 angularError = 0.0f; float32 angularError = 0.0f;
{ {
b3Quat fA = m_referenceRotation * qA * m_localRotationA; b3Quat fA = qA * m_localRotationA;
b3Quat fB = m_referenceRotation * qB * m_localRotationB; b3Quat fB = qB * m_localRotationB;
b3Quat q = b3Conjugate(fA) * fB; b3Quat q = b3Conjugate(m_referenceRotation) * b3Conjugate(fA) * fB;
b3Vec2 C = P_hinge * q_to_v(q); b3Vec2 C = P_hinge * q_to_v(q);