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Fixed some trailing whitespace that snuck in again
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jrouwe committed Dec 3, 2023
1 parent 186b59b commit e1e61bb
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Showing 4 changed files with 11 additions and 11 deletions.
4 changes: 2 additions & 2 deletions Jolt/Jolt.natvis
Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
<?xml version="1.0" encoding="utf-8"?>
<?xml version="1.0" encoding="utf-8"?>
<AutoVisualizer xmlns="http://schemas.microsoft.com/vstudio/debugger/natvis/2010">
<Type Name="JPH::Color">
<DisplayString>r={(int)r}, g={(int)g}, b={(int)b}, a={(int)a}</DisplayString>
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</ArrayItems>
</Expand>
</Type>
</AutoVisualizer>
</AutoVisualizer>
4 changes: 2 additions & 2 deletions Jolt/Physics/Collision/Shape/HeightFieldShape.cpp
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Expand Up @@ -321,7 +321,7 @@ void HeightFieldShape::CalculateActiveEdges(const HeightFieldShapeSettings &inSe
/*
Store active edges. The triangles are organized like this:
x --->
y + +
| \ T1B | \ T2B
| e0 e2 | \
Expand Down Expand Up @@ -929,7 +929,7 @@ void HeightFieldShape::SetHeights(uint inX, uint inY, uint inSizeX, uint inSizeY
heights = temp_heights;

// We need to fill in the following areas:
//
//
// +-----------------+
// | 2 |
// |---+---------+---|
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12 changes: 6 additions & 6 deletions Jolt/Physics/Constraints/ConstraintPart/DualAxisConstraintPart.h
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Expand Up @@ -13,22 +13,22 @@ JPH_NAMESPACE_BEGIN

/**
Constrains movement on 2 axis
@see "Constraints Derivation for Rigid Body Simulation in 3D" - Daniel Chappuis, section 2.3.1
Constraint equation (eq 51):
\f[C = \begin{bmatrix} (p_2 - p_1) \cdot n_1 \\ (p_2 - p_1) \cdot n_2\end{bmatrix}\f]
Jacobian (transposed) (eq 55):
\f[J^T = \begin{bmatrix}
-n_1 & -n_2 \\
-(r_1 + u) \times n_1 & -(r_1 + u) \times n_2 \\
n_1 & n_2 \\
r_2 \times n_1 & r_2 \times n_2
\end{bmatrix}\f]
Used terms (here and below, everything in world space):\n
n1, n2 = constraint axis (normalized).\n
p1, p2 = constraint points.\n
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2 changes: 1 addition & 1 deletion Jolt/Physics/Constraints/SpringSettings.h
Original file line number Diff line number Diff line change
Expand Up @@ -53,7 +53,7 @@ class JPH_EXPORT SpringSettings
/// Valid when mSpringMode = ESpringMode::StiffnessAndDamping.
/// If mStiffness > 0 the constraint will be soft and mStiffness specifies the stiffness (k) in the spring equation F = -k * x - c * v for a linear or T = -k * theta - c * w for an angular spring.
/// If mStiffness <= 0, mDamping is ignored and the constraint will have hard limits (as hard as the time step / the number of velocity / position solver steps allows).
///
///
/// Note that stiffness values are large numbers. To calculate a ballpark value for the needed stiffness you can use:
/// force = stiffness * delta_spring_length = mass * gravity <=> stiffness = mass * gravity / delta_spring_length.
/// So if your object weighs 1500 kg and the spring compresses by 2 meters, you need a stiffness in the order of 1500 * 9.81 / 2 ~ 7500 N/m.
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