From 4f8f8017f447fa5137fa5ed5fc3820faebb5c1bc Mon Sep 17 00:00:00 2001 From: Crozet Sébastien Date: Mon, 15 Feb 2021 16:44:55 +0100 Subject: Properly writeback the generic constrainst impulse when it comes from a revolute joint. --- src/dynamics/solver/joint_constraint/generic_position_constraint.rs | 2 -- 1 file changed, 2 deletions(-) (limited to 'src/dynamics/solver/joint_constraint/generic_position_constraint.rs') diff --git a/src/dynamics/solver/joint_constraint/generic_position_constraint.rs b/src/dynamics/solver/joint_constraint/generic_position_constraint.rs index 1502403..be12258 100644 --- a/src/dynamics/solver/joint_constraint/generic_position_constraint.rs +++ b/src/dynamics/solver/joint_constraint/generic_position_constraint.rs @@ -152,7 +152,6 @@ impl GenericPositionConstraint { } } - // Will be actually inverted right after. // TODO: we should keep the SdpMatrix3 type. let rotmat = basis.to_rotation_matrix().into_inner(); let delassus = (self.ii1.quadform(&rotmat) + self.ii2.quadform(&rotmat)).into_matrix(); @@ -259,7 +258,6 @@ impl GenericPositionGroundConstraint { let rotmat = basis.to_rotation_matrix().into_inner(); let rmat2 = r2.gcross_matrix() * rotmat; - // Will be actually inverted right after. // TODO: we should keep the SdpMatrix3 type. let delassus = self .ii2 -- cgit