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Daniel K. O. committed 78bf0a8

scale was being used incorrectly

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  • Parent commits f631e3d

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Files changed (2)

File samples/KODEOgre/buggy.cpp

                                             c.setFDir1(b2->getOrientation().localZ());
                                     }
                                     c.setSlip(0.1, 0.1);
-                                    c.setMu(2 / (1 + Math::Sqrt2));
+                                    c.setMu(3);
+                                    c.setNumFDirs(8);
                                     c.setSoftERP(0.1);
                                     c.setSoftCFM(0.2);
                                     c.setRho(1e-3, 1e-3);

File src/joints/Contact.cpp

                 const Real scale = 1/apothem;
                 const Real c = cos(angle);
                 const Real s = sin(angle);
-                const Real rho = Math::hypot(rho1 * c, rho2 * s) / scale;
+                const Real rho = Math::hypot(rho1 * c, rho2 * s) * scale;
                 con.low  = -rho;
                 con.high =  rho;
                 con.findex = usePyramid ? thisRow : 0;