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

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rponom
2009-12-02 00:53:53 +00:00
parent f919baf03d
commit 0d80aa855e
2 changed files with 4 additions and 2 deletions
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src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp
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@@ -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;
}