I'm changing my copy of JigLibX from XNA to SlimDX and I just found something strange(?) … in line 1359 in JigLibX.Physics.PhysicsSystem there is this line:
#region INLINE: ptInfo.Denominator += body1.InvMass + Vector3.Dot(N, Vector3.Cross(body1.WorldInvInertia * (Vector3.Cross(ptInfo.R1, N)), ptInf1.R0));
Well, Body doesn't have InvMass, it has InverseMass and CollPointInfo doesn't have R0.
I mean, the engine works … *confused* … …
Am I missing something?