Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Improved math precision for btHingeConstraint and btSliderConstraint (btAtan2() used instead of btAtan2Fast())

Browse Source
This commit is contained in:
rponom
2009-12-02 00:53:53 +00:00
parent f919baf03d
commit 0d80aa855e
2 changed files with 4 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files

3
src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp
View File

@@ -720,7 +720,8 @@ btScalar btHingeConstraint::getHingeAngle(const btTransform& transA,const btTran
const btVector3 refAxis0 = transA.getBasis() * m_rbAFrame.getBasis().getColumn(0);
const btVector3 refAxis1 = transA.getBasis() * m_rbAFrame.getBasis().getColumn(1);
const btVector3 swingAxis = transB.getBasis() * m_rbBFrame.getBasis().getColumn(1);
btScalar angle = btAtan2Fast(swingAxis.dot(refAxis0), swingAxis.dot(refAxis1));
// btScalar angle = btAtan2Fast(swingAxis.dot(refAxis0), swingAxis.dot(refAxis1));
btScalar angle = btAtan2(swingAxis.dot(refAxis0), swingAxis.dot(refAxis1));
return m_referenceSign * angle;
}

3
src/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp
View File

@@ -822,7 +822,8 @@ void btSliderConstraint::testAngLimits(void)
const btVector3 axisA0 = m_calculatedTransformA.getBasis().getColumn(1);
const btVector3 axisA1 = m_calculatedTransformA.getBasis().getColumn(2);
const btVector3 axisB0 = m_calculatedTransformB.getBasis().getColumn(1);
btScalar rot = btAtan2Fast(axisB0.dot(axisA1), axisB0.dot(axisA0));
// btScalar rot = btAtan2Fast(axisB0.dot(axisA1), axisB0.dot(axisA0));
btScalar rot = btAtan2(axisB0.dot(axisA1), axisB0.dot(axisA0));
rot = btAdjustAngleToLimits(rot, m_lowerAngLimit, m_upperAngLimit);
m_angPos = rot;
if(rot < m_lowerAngLimit)