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Fix Inertia tensor update & Generic 6DOF Joint

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This commit is contained in:
m4nu3lf 2017-09-16 17:50:46 +01:00
parent cc30e2a9a5
commit d4452e3a65
2 changed files with 4 additions and 3 deletions
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5
servers/physics/body_sw.cpp
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@ -45,8 +45,9 @@ void BodySW::_update_transform_dependant() {
// update inertia tensor
Basis tb = principal_inertia_axes;
Basis tbt = tb.transposed();
tb.scale(_inv_inertia);
_inv_inertia_tensor = tb * tbt;
Basis diag;
diag.scale(_inv_inertia);
_inv_inertia_tensor = tb * diag * tbt;
}
void BodySW::update_inertias() {

2
servers/physics/joints/generic_6dof_joint_sw.cpp
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@ -219,7 +219,7 @@ Generic6DOFJointSW::Generic6DOFJointSW(BodySW *rbA, BodySW *rbB, const Transform
}
void Generic6DOFJointSW::calculateAngleInfo() {
Basis relative_frame = m_calculatedTransformA.basis.inverse() * m_calculatedTransformB.basis;
Basis relative_frame = m_calculatedTransformB.basis.inverse() * m_calculatedTransformA.basis;
m_calculatedAxisAngleDiff = relative_frame.get_euler();