diff options
Diffstat (limited to 'servers/physics_3d/joints/godot_slider_joint_3d.cpp')
| -rw-r--r-- | servers/physics_3d/joints/godot_slider_joint_3d.cpp | 36 |
1 files changed, 20 insertions, 16 deletions
diff --git a/servers/physics_3d/joints/godot_slider_joint_3d.cpp b/servers/physics_3d/joints/godot_slider_joint_3d.cpp index 3be111ac92..1f463ad24c 100644 --- a/servers/physics_3d/joints/godot_slider_joint_3d.cpp +++ b/servers/physics_3d/joints/godot_slider_joint_3d.cpp @@ -112,16 +112,18 @@ bool GodotSliderJoint3D::setup(real_t p_step) { //linear part for (i = 0; i < 3; i++) { normalWorld = m_calculatedTransformA.basis.get_axis(i); - memnew_placement(&m_jacLin[i], GodotJacobianEntry3D( - A->get_principal_inertia_axes().transposed(), - B->get_principal_inertia_axes().transposed(), - m_relPosA - A->get_center_of_mass(), - m_relPosB - B->get_center_of_mass(), - normalWorld, - A->get_inv_inertia(), - A->get_inv_mass(), - B->get_inv_inertia(), - B->get_inv_mass())); + memnew_placement( + &m_jacLin[i], + GodotJacobianEntry3D( + A->get_principal_inertia_axes().transposed(), + B->get_principal_inertia_axes().transposed(), + m_relPosA - A->get_center_of_mass(), + m_relPosB - B->get_center_of_mass(), + normalWorld, + A->get_inv_inertia(), + A->get_inv_mass(), + B->get_inv_inertia(), + B->get_inv_mass())); m_jacLinDiagABInv[i] = real_t(1.) / m_jacLin[i].getDiagonal(); m_depth[i] = m_delta.dot(normalWorld); } @@ -129,12 +131,14 @@ bool GodotSliderJoint3D::setup(real_t p_step) { // angular part for (i = 0; i < 3; i++) { normalWorld = m_calculatedTransformA.basis.get_axis(i); - memnew_placement(&m_jacAng[i], GodotJacobianEntry3D( - normalWorld, - A->get_principal_inertia_axes().transposed(), - B->get_principal_inertia_axes().transposed(), - A->get_inv_inertia(), - B->get_inv_inertia())); + memnew_placement( + &m_jacAng[i], + GodotJacobianEntry3D( + normalWorld, + A->get_principal_inertia_axes().transposed(), + B->get_principal_inertia_axes().transposed(), + A->get_inv_inertia(), + B->get_inv_inertia())); } testAngLimits(); Vector3 axisA = m_calculatedTransformA.basis.get_axis(0); |