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Fix a division by zero in btConeTwistConstraint::calcAngleInfo2

Browse Source 
http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?f=9&t=7867
Thanks to Aardwolf for report and Roman Ponomarev for the fix
This commit is contained in:
erwin.coumans
2012-02-16 23:44:43 +00:00
parent 9bfdc346c3
commit 15deee7e79
1 changed files with 5 additions and 0 deletions
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5
src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp
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@@ -638,6 +638,11 @@ void btConeTwistConstraint::calcAngleInfo2(const btTransform& transA, const btTr
btTransform trDeltaAB = trB * trPose * trA.inverse(); btTransform trDeltaAB = trB * trPose * trA.inverse();
btQuaternion qDeltaAB = trDeltaAB.getRotation(); btQuaternion qDeltaAB = trDeltaAB.getRotation();
btVector3 swingAxis = btVector3(qDeltaAB.x(), qDeltaAB.y(), qDeltaAB.z()); btVector3 swingAxis = btVector3(qDeltaAB.x(), qDeltaAB.y(), qDeltaAB.z());
float swingAxisLen2 = swingAxis.length2();
if(btFuzzyZero(swingAxisLen2))
{
return;
}
m_swingAxis = swingAxis; m_swingAxis = swingAxis;
m_swingAxis.normalize(); m_swingAxis.normalize();
m_swingCorrection = qDeltaAB.getAngle(); m_swingCorrection = qDeltaAB.getAngle();