[ODE] sliderGetInfo2

[Benoit Chaperot]

Hello all,

In joint.cpp, line 1060, I read:

if (joint->node[1].body) {
    dVector3 tmp;
    dCROSS (tmp, = REAL(0.5) * ,c,p);
    for (i=0; i<3; i++) info->J2a[s3+i] = tmp[i];
    for (i=0; i<3; i++) info->J2a[s3+i] = tmp[i];
    dCROSS (tmp, = REAL(0.5) * ,c,q);
    for (i=0; i<3; i++) info->J2a[s4+i] = tmp[i];
    for (i=0; i<3; i++) info->J2a[s4+i] = tmp[i];
    for (i=0; i<3; i++) info->J2l[s3+i] = -p[i];
    for (i=0; i<3; i++) info->J2l[s4+i] = -q[i];
  }

Shouldn't it be:

if (joint->node[1].body) {
    dVector3 tmp;
    dCROSS (tmp, = REAL(0.5) * ,c,p);
    for (i=0; i<3; i++) info->J1a[s3+i] = tmp[i];
    for (i=0; i<3; i++) info->J2a[s3+i] = -tmp[i];
    dCROSS (tmp, = REAL(0.5) * ,c,q);
    for (i=0; i<3; i++) info->J1a[s4+i] = tmp[i];
    for (i=0; i<3; i++) info->J2a[s4+i] = -tmp[i];
    for (i=0; i<3; i++) info->J2l[s3+i] = -p[i];
    for (i=0; i<3; i++) info->J2l[s4+i] = -q[i];
  }

Thanks

Benoit