diff options
Diffstat (limited to 'PhysX_3.4/Source/LowLevelDynamics/src/DyContactPrep4.cpp')
| -rw-r--r-- | PhysX_3.4/Source/LowLevelDynamics/src/DyContactPrep4.cpp | 3 |
1 files changed, 2 insertions, 1 deletions
diff --git a/PhysX_3.4/Source/LowLevelDynamics/src/DyContactPrep4.cpp b/PhysX_3.4/Source/LowLevelDynamics/src/DyContactPrep4.cpp index 91b9e638..569e6996 100644 --- a/PhysX_3.4/Source/LowLevelDynamics/src/DyContactPrep4.cpp +++ b/PhysX_3.4/Source/LowLevelDynamics/src/DyContactPrep4.cpp @@ -990,7 +990,8 @@ static void setupFinalizeSolverConstraints4(PxSolverContactDesc* PX_RESTRICT des const Vec4V rbXnY = V4NegMulSub(rbX, t1Z, V4Mul(rbZ, t1X)); const Vec4V rbXnZ = V4NegMulSub(rbY, t1X, V4Mul(rbX, t1Y)); - const Vec4V dotRbXnAngVel1 = V4MulAdd(rbXnZ, angVelT21, V4MulAdd(rbXnY, angVelT11, V4Mul(rbXnX, angVelT01))); + const Vec4V tVel1 = V4MulAdd(t1Z, linVelT21, V4MulAdd(t1Y, linVelT11, V4Mul(t1X, linVelT01))); + const Vec4V dotRbXnAngVel1 = V4MulAdd(rbXnZ, angVelT21, V4MulAdd(rbXnY, angVelT11, V4MulAdd(rbXnX, angVelT01, tVel1))); vrel = V4Sub(vrel, dotRbXnAngVel1); } |