From 4ff1e7947f459183541b09725b7c8ff94a567577 Mon Sep 17 00:00:00 2001 From: Irlan Date: Sun, 4 Jun 2017 14:25:08 -0300 Subject: [PATCH] read --- src/bounce/dynamics/rope/rope.cpp | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/src/bounce/dynamics/rope/rope.cpp b/src/bounce/dynamics/rope/rope.cpp index d6c00d9..d03da4a 100644 --- a/src/bounce/dynamics/rope/rope.cpp +++ b/src/bounce/dynamics/rope/rope.cpp @@ -289,7 +289,8 @@ void b3Rope::Step(float32 h) b3RopeBody* link = m_links + j; b3RopeBody* parent = link - 1; b3MotionVec* S = link->m_S; - + b3MotionVec& c = link->m_sc; + b3SpInertia& I_A = link->m_I_A; b3ForceVec& F_A = link->m_F_A; @@ -345,7 +346,7 @@ void b3Rope::Step(float32 h) b3ForceVec U_invD_u = U_invD[0] * u[0] + U_invD[1] * u[1] + U_invD[2] * u[2]; // F_a = F_A + I_a * c + U * D^-1 * u - b3ForceVec F_a = link->m_F_A + I_a * link->m_sc + U_invD_u; + b3ForceVec F_a = F_A + I_a * c + U_invD_u; b3SpInertia I_a_i = b3MulT(link->m_X_i_j, I_a); b3ForceVec F_a_i = b3MulT(link->m_X_i_j, F_a);