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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/btSliderConstraint.cpp
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@@ -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)