diff options
Diffstat (limited to 'servers/physics_2d/joints_2d_sw.cpp')
-rw-r--r-- | servers/physics_2d/joints_2d_sw.cpp | 15 |
1 files changed, 9 insertions, 6 deletions
diff --git a/servers/physics_2d/joints_2d_sw.cpp b/servers/physics_2d/joints_2d_sw.cpp index 5a0a628fbc..fa8499a81d 100644 --- a/servers/physics_2d/joints_2d_sw.cpp +++ b/servers/physics_2d/joints_2d_sw.cpp @@ -68,13 +68,13 @@ static inline real_t k_scalar(Body2DSW *a, Body2DSW *b, const Vector2 &rA, const { value += a->get_inv_mass(); - real_t rcn = rA.cross(n); + real_t rcn = (rA - a->get_center_of_mass()).cross(n); value += a->get_inv_inertia() * rcn * rcn; } if (b) { value += b->get_inv_mass(); - real_t rcn = rB.cross(n); + real_t rcn = (rB - b->get_center_of_mass()).cross(n); value += b->get_inv_inertia() * rcn * rcn; } @@ -83,9 +83,9 @@ static inline real_t k_scalar(Body2DSW *a, Body2DSW *b, const Vector2 &rA, const static inline Vector2 relative_velocity(Body2DSW *a, Body2DSW *b, Vector2 rA, Vector2 rB) { - Vector2 sum = a->get_linear_velocity() - rA.orthogonal() * a->get_angular_velocity(); + Vector2 sum = a->get_linear_velocity() - (rA - a->get_center_of_mass()).orthogonal() * a->get_angular_velocity(); if (b) { - return (b->get_linear_velocity() - rB.orthogonal() * b->get_angular_velocity()) - sum; + return (b->get_linear_velocity() - (rB - b->get_center_of_mass()).orthogonal() * b->get_angular_velocity()) - sum; } else { return -sum; } @@ -172,11 +172,11 @@ bool PinJoint2DSW::pre_solve(real_t p_step) { void PinJoint2DSW::solve(real_t p_step) { // compute relative velocity - Vector2 vA = A->get_linear_velocity() - custom_cross(rA, A->get_angular_velocity()); + Vector2 vA = A->get_linear_velocity() - custom_cross(rA - A->get_center_of_mass(), A->get_angular_velocity()); Vector2 rel_vel; if (B) { - rel_vel = B->get_linear_velocity() - custom_cross(rB, B->get_angular_velocity()) - vA; + rel_vel = B->get_linear_velocity() - custom_cross(rB - B->get_center_of_mass(), B->get_angular_velocity()) - vA; } else { rel_vel = -vA; } @@ -238,6 +238,9 @@ k_tensor(Body2DSW *a, Body2DSW *b, Vector2 r1, Vector2 r2, Vector2 *k1, Vector2 k21 = 0.0f; k22 = m_sum; + r1 -= a->get_center_of_mass(); + r2 -= b->get_center_of_mass(); + // add the influence from r1 real_t a_i_inv = a->get_inv_inertia(); real_t r1xsq = r1.x * r1.x * a_i_inv; |