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Fix for the non-virtual implementation of btGeneric6DofConstraint (mainly for Cell SPU purposes):

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Need to explicitly call testAngularLimitMotor(i);, because it cannot be called during 'getInfo1', because m_rbA and m_rbB is not available.
This commit is contained in:
erwin.coumans
2010-04-05 20:18:53 +00:00
parent f0ba00c010
commit 07f51390ea
1 changed files with 29 additions and 1 deletions
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30
src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
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@@ -574,14 +574,42 @@ void btGeneric6DofConstraint::getInfo1NonVirtual (btConstraintInfo1* info)
void btGeneric6DofConstraint::getInfo2 (btConstraintInfo2* info)
{
getInfo2NonVirtual(info,m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform(), m_rbA.getLinearVelocity(),m_rbB.getLinearVelocity(),m_rbA.getAngularVelocity(), m_rbB.getAngularVelocity());
btAssert(!m_useSolveConstraintObsolete);
const btTransform& transA = m_rbA.getCenterOfMassTransform();
const btTransform& transB = m_rbB.getCenterOfMassTransform();
const btVector3& linVelA = m_rbA.getLinearVelocity();
const btVector3& linVelB = m_rbB.getLinearVelocity();
const btVector3& angVelA = m_rbA.getAngularVelocity();
const btVector3& angVelB = m_rbB.getAngularVelocity();
if(m_useOffsetForConstraintFrame)
{ // for stability better to solve angular limits first
int row = setAngularLimits(info, 0,transA,transB,linVelA,linVelB,angVelA,angVelB);
setLinearLimits(info, row, transA,transB,linVelA,linVelB,angVelA,angVelB);
}
else
{ // leave old version for compatibility
int row = setLinearLimits(info, 0, transA,transB,linVelA,linVelB,angVelA,angVelB);
setAngularLimits(info, row,transA,transB,linVelA,linVelB,angVelA,angVelB);
}
}
void btGeneric6DofConstraint::getInfo2NonVirtual (btConstraintInfo2* info, const btTransform& transA,const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB,const btVector3& angVelA,const btVector3& angVelB)
{
btAssert(!m_useSolveConstraintObsolete);
//prepare constraint
calculateTransforms(transA,transB);
int i;
for (i=0;i<3 ;i++ )
{
testAngularLimitMotor(i);
}
if(m_useOffsetForConstraintFrame)
{ // for stability better to solve angular limits first
int row = setAngularLimits(info, 0,transA,transB,linVelA,linVelB,angVelA,angVelB);