From 2123c81a34715503c2f20dd46b6aa9df85401964 Mon Sep 17 00:00:00 2001
From: d07RiV <d07.riv@gmail.com>
Date: Mon, 3 Aug 2015 19:01:35 +0300
Subject: [PATCH] Update contacts.cpp

Error (typo?) in basis calculation.

(Ax, Ay, Az) % (Bx, 0, Bz) = (Ay*Bz, Az*Bx-Ax*Bz, -Ay*Bx)
---
 src/contacts.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/contacts.cpp b/src/contacts.cpp
index 3276e0e..3995a09 100644
--- a/src/contacts.cpp
+++ b/src/contacts.cpp
@@ -83,7 +83,7 @@ void Contact::calculateContactBasis()
         contactTangent[0].z = -contactNormal.x*s;
 
         // The new Y-axis is at right angles to the new X- and Z- axes
-        contactTangent[1].x = contactNormal.y*contactTangent[0].x;
+        contactTangent[1].x = contactNormal.y*contactTangent[0].z;
         contactTangent[1].y = contactNormal.z*contactTangent[0].x -
             contactNormal.x*contactTangent[0].z;
         contactTangent[1].z = -contactNormal.y*contactTangent[0].x;