| Index: lib/src/dynamics/joints/distance_joint.dart
|
| diff --git a/lib/src/dynamics/joints/distance_joint.dart b/lib/src/dynamics/joints/distance_joint.dart
|
| index c67721a7e2579a40214131bc819577ca4bd7019c..857a815b31123349bc308d528be027ba44e239de 100644
|
| --- a/lib/src/dynamics/joints/distance_joint.dart
|
| +++ b/lib/src/dynamics/joints/distance_joint.dart
|
| @@ -124,10 +124,8 @@ class DistanceJoint extends Joint {
|
| qB.setAngle(aB);
|
|
|
| // use _u as temporary variable
|
| - Rot.mulToOutUnsafe(
|
| - qA, _u.setFrom(_localAnchorA).sub(_localCenterA), _rA);
|
| - Rot.mulToOutUnsafe(
|
| - qB, _u.setFrom(_localAnchorB).sub(_localCenterB), _rB);
|
| + Rot.mulToOutUnsafe(qA, _u.setFrom(_localAnchorA).sub(_localCenterA), _rA);
|
| + Rot.mulToOutUnsafe(qB, _u.setFrom(_localAnchorB).sub(_localCenterB), _rB);
|
| _u.setFrom(cB).add(_rB).sub(cA).sub(_rA);
|
|
|
| pool.pushRot(2);
|
| @@ -143,10 +141,8 @@ class DistanceJoint extends Joint {
|
|
|
| double crAu = _rA.cross(_u);
|
| double crBu = _rB.cross(_u);
|
| - double invMass = _invMassA +
|
| - _invIA * crAu * crAu +
|
| - _invMassB +
|
| - _invIB * crBu * crBu;
|
| + double invMass =
|
| + _invMassA + _invIA * crAu * crAu + _invMassB + _invIB * crBu * crBu;
|
|
|
| // Compute the effective mass matrix.
|
| _mass = invMass != 0.0 ? 1.0 / invMass : 0.0;
|
|
|