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local forces seem to be computed incorrectly

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This commit is contained in:
David Rose 2005-03-31 00:32:04 +00:00
parent 55a9716356
commit c4ddff19fc
1 changed files with 6 additions and 8 deletions
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14
panda/src/physics/baseIntegrator.cxx
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@ -68,7 +68,7 @@ precompute_linear_matrices(Physical *physical,
_precomputed_linear_matrices.reserve(global_force_vec_size + local_force_vec_size);
NodePath physical_np(physical_node);
NodePath global_physical_np = physical_np.get_parent();
NodePath parent_physical_np = physical_np.get_parent();
// tally the global xforms
LinearForceVector::const_iterator fi;
@ -78,8 +78,7 @@ precompute_linear_matrices(Physical *physical,
nassertv(force_node != (ForceNode *) NULL);
NodePath force_np(force_node);
//_precomputed_linear_matrices.push_back(global_physical_np.get_mat(force_node));
_precomputed_linear_matrices.push_back(force_np.get_mat(global_physical_np));
_precomputed_linear_matrices.push_back(force_np.get_mat(parent_physical_np));
}
// tally the local xforms
@ -89,7 +88,7 @@ precompute_linear_matrices(Physical *physical,
nassertv(force_node != (ForceNode *) NULL);
NodePath force_np(force_node);
_precomputed_linear_matrices.push_back(physical_np.get_mat(force_node));
_precomputed_linear_matrices.push_back(force_np.get_mat(parent_physical_np));
}
}
@ -122,7 +121,7 @@ precompute_angular_matrices(Physical *physical,
_precomputed_angular_matrices.reserve(global_force_vec_size + local_force_vec_size);
NodePath physical_np(physical_node);
NodePath global_physical_np = physical_np.get_parent();
NodePath parent_physical_np = physical_np.get_parent();
// tally the global xforms
AngularForceVector::const_iterator fi;
@ -131,8 +130,7 @@ precompute_angular_matrices(Physical *physical,
nassertv(force_node != (ForceNode *) NULL);
NodePath force_np(force_node);
//_precomputed_angular_matrices.push_back(physical_np.get_mat(force_node));
_precomputed_angular_matrices.push_back(force_np.get_mat(global_physical_np));
_precomputed_angular_matrices.push_back(force_np.get_mat(parent_physical_np));
}
// tally the local xforms
@ -142,7 +140,7 @@ precompute_angular_matrices(Physical *physical,
nassertv(force_node != (ForceNode *) NULL);
NodePath force_np(force_node);
_precomputed_angular_matrices.push_back(physical_np.get_mat(force_node));
_precomputed_angular_matrices.push_back(force_np.get_mat(parent_physical_np));
}
}