Index: lib/src/dynamics/joints/weld_joint.dart |
diff --git a/lib/src/dynamics/joints/weld_joint.dart b/lib/src/dynamics/joints/weld_joint.dart |
index a05c9f94822e6cae74d6a675b975b22493f997de..6f72521db6c8e0a217a8b66bcd6acddfde4a9b59 100644 |
--- a/lib/src/dynamics/joints/weld_joint.dart |
+++ b/lib/src/dynamics/joints/weld_joint.dart |
@@ -136,10 +136,8 @@ class WeldJoint extends Joint { |
qB.setAngle(aB); |
// Compute the effective masses. |
- Rot.mulToOutUnsafe( |
- qA, temp.setFrom(_localAnchorA).sub(_localCenterA), _rA); |
- Rot.mulToOutUnsafe( |
- qB, temp.setFrom(_localAnchorB).sub(_localCenterB), _rB); |
+ Rot.mulToOutUnsafe(qA, temp.setFrom(_localAnchorA).sub(_localCenterA), _rA); |
+ Rot.mulToOutUnsafe(qB, temp.setFrom(_localAnchorB).sub(_localCenterB), _rB); |
// J = [-I -r1_skew I r2_skew] |
// [ 0 -1 0 1] |
@@ -326,10 +324,8 @@ class WeldJoint extends Joint { |
double iA = _invIA, |
iB = _invIB; |
- Rot.mulToOutUnsafe( |
- qA, temp.setFrom(_localAnchorA).sub(_localCenterA), rA); |
- Rot.mulToOutUnsafe( |
- qB, temp.setFrom(_localAnchorB).sub(_localCenterB), rB); |
+ Rot.mulToOutUnsafe(qA, temp.setFrom(_localAnchorA).sub(_localCenterA), rA); |
+ Rot.mulToOutUnsafe(qB, temp.setFrom(_localAnchorB).sub(_localCenterB), rB); |
double positionError, angularError; |
final Matrix3 K = pool.popMat33(); |