diff options
Diffstat (limited to 'servers/physics/joints/jacobian_entry_sw.h')
-rw-r--r-- | servers/physics/joints/jacobian_entry_sw.h | 18 |
1 files changed, 10 insertions, 8 deletions
diff --git a/servers/physics/joints/jacobian_entry_sw.h b/servers/physics/joints/jacobian_entry_sw.h index 79ce0e6157..7aeb06ddd8 100644 --- a/servers/physics/joints/jacobian_entry_sw.h +++ b/servers/physics/joints/jacobian_entry_sw.h @@ -64,8 +64,8 @@ public: const Vector3 &inertiaInvA, const real_t massInvA, const Vector3 &inertiaInvB, - const real_t massInvB) - : m_linearJointAxis(jointAxis) { + const real_t massInvB) : + m_linearJointAxis(jointAxis) { m_aJ = world2A.xform(rel_pos1.cross(m_linearJointAxis)); m_bJ = world2B.xform(rel_pos2.cross(-m_linearJointAxis)); m_0MinvJt = inertiaInvA * m_aJ; @@ -80,8 +80,8 @@ public: const Basis &world2A, const Basis &world2B, const Vector3 &inertiaInvA, - const Vector3 &inertiaInvB) - : m_linearJointAxis(Vector3(real_t(0.), real_t(0.), real_t(0.))) { + const Vector3 &inertiaInvB) : + m_linearJointAxis(Vector3(real_t(0.), real_t(0.), real_t(0.))) { m_aJ = world2A.xform(jointAxis); m_bJ = world2B.xform(-jointAxis); m_0MinvJt = inertiaInvA * m_aJ; @@ -95,8 +95,10 @@ public: JacobianEntrySW(const Vector3 &axisInA, const Vector3 &axisInB, const Vector3 &inertiaInvA, - const Vector3 &inertiaInvB) - : m_linearJointAxis(Vector3(real_t(0.), real_t(0.), real_t(0.))), m_aJ(axisInA), m_bJ(-axisInB) { + const Vector3 &inertiaInvB) : + m_linearJointAxis(Vector3(real_t(0.), real_t(0.), real_t(0.))), + m_aJ(axisInA), + m_bJ(-axisInB) { m_0MinvJt = inertiaInvA * m_aJ; m_1MinvJt = inertiaInvB * m_bJ; m_Adiag = m_0MinvJt.dot(m_aJ) + m_1MinvJt.dot(m_bJ); @@ -110,8 +112,8 @@ public: const Vector3 &rel_pos1, const Vector3 &rel_pos2, const Vector3 &jointAxis, const Vector3 &inertiaInvA, - const real_t massInvA) - : m_linearJointAxis(jointAxis) { + const real_t massInvA) : + m_linearJointAxis(jointAxis) { m_aJ = world2A.xform(rel_pos1.cross(jointAxis)); m_bJ = world2A.xform(rel_pos2.cross(-jointAxis)); m_0MinvJt = inertiaInvA * m_aJ; |