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Usually m_contactNormal2 == -m_contactNormal1, but not always, so

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use a separate contactNormal1/contactNormal2 for each body in btSolverConstraint.

Thanks to Richard McDaniel for the patch.
This commit is contained in:
erwin.coumans
2012-12-12 23:21:51 +00:00
parent fe92502332
commit 1d4a5d950d
8 changed files with 111 additions and 86 deletions
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3
src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp
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@@ -137,6 +137,9 @@ void btConeTwistConstraint::getInfo2NonVirtual (btConstraintInfo2* info,const bt
btVector3 a1neg = -a1;
a1neg.getSkewSymmetricMatrix(angular0,angular1,angular2);
}
info->m_J2linearAxis[0] = -1;
info->m_J2linearAxis[info->rowskip+1] = -1;
info->m_J2linearAxis[2*info->rowskip+2] = -1;
btVector3 a2 = transB.getBasis() * m_rbBFrame.getOrigin();
{
btVector3* angular0 = (btVector3*)(info->m_J2angularAxis);