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This commit is contained in:
Irlan 2017-06-04 14:25:08 -03:00
parent 2760fb21d0
commit 4ff1e7947f
1 changed files with 3 additions and 2 deletions
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src/bounce/dynamics/rope/rope.cpp
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@ -289,6 +289,7 @@ 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);