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patch for the constructor of the btHingeConstraint. Thanks LvR and eddybox!

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http://code.google.com/p/bullet/issues/detail?id=47
This commit is contained in:
erwin.coumans
2008-04-07 23:27:03 +00:00
parent 569a949ae3
commit 06bae58536
1 changed files with 14 additions and 9 deletions
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23
src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp
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@@ -37,13 +37,19 @@ btHingeConstraint::btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const bt
// since no frame is given, assume this to be zero angle and just pick rb transform axis
btVector3 rbAxisA1 = rbA.getCenterOfMassTransform().getBasis().getColumn(0);
btScalar projection = rbAxisA1.dot(axisInA);
if (projection > SIMD_EPSILON)
rbAxisA1 = rbAxisA1*projection - axisInA;
else
rbAxisA1 = rbA.getCenterOfMassTransform().getBasis().getColumn(1);
btVector3 rbAxisA2 = rbAxisA1.cross(axisInA);
btVector3 rbAxisA2;
btScalar projection = axisInA.dot(rbAxisA1);
if (projection >= 1.0f - SIMD_EPSILON) {
rbAxisA1 = -rbA.getCenterOfMassTransform().getBasis().getColumn(2);
rbAxisA2 = rbA.getCenterOfMassTransform().getBasis().getColumn(1);
} else if (projection <= -1.0f + SIMD_EPSILON) {
rbAxisA1 = rbA.getCenterOfMassTransform().getBasis().getColumn(2);
rbAxisA2 = rbA.getCenterOfMassTransform().getBasis().getColumn(1);
} else {
rbAxisA2 = axisInA.cross(rbAxisA1);
rbAxisA1 = rbAxisA2.cross(axisInA);
}
m_rbAFrame.getBasis().setValue( rbAxisA1.getX(),rbAxisA2.getX(),axisInA.getX(),
rbAxisA1.getY(),rbAxisA2.getY(),axisInA.getY(),
@@ -51,8 +57,7 @@ btHingeConstraint::btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const bt
btQuaternion rotationArc = shortestArcQuat(axisInA,axisInB);
btVector3 rbAxisB1 = quatRotate(rotationArc,rbAxisA1);
btVector3 rbAxisB2 = rbAxisB1.cross(axisInB);
btVector3 rbAxisB2 = axisInB.cross(rbAxisB1);
m_rbBFrame.getOrigin() = pivotInB;
m_rbBFrame.getBasis().setValue( rbAxisB1.getX(),rbAxisB2.getX(),-axisInB.getX(),