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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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14
src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp
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@@ -369,6 +369,10 @@ void btHingeConstraint::getInfo2Internal(btConstraintInfo2* info, const btTransf
info->m_J1angularAxis[i*skip+1]=0;
info->m_J1angularAxis[i*skip+2]=0;
info->m_J2linearAxis[i*skip]=0;
info->m_J2linearAxis[i*skip+1]=0;
info->m_J2linearAxis[i*skip+2]=0;
info->m_J2angularAxis[i*skip]=0;
info->m_J2angularAxis[i*skip+1]=0;
info->m_J2angularAxis[i*skip+2]=0;
@@ -384,6 +388,10 @@ void btHingeConstraint::getInfo2Internal(btConstraintInfo2* info, const btTransf
info->m_J1linearAxis[0] = 1;
info->m_J1linearAxis[skip + 1] = 1;
info->m_J1linearAxis[2 * skip + 2] = 1;
info->m_J2linearAxis[0] = -1;
info->m_J2linearAxis[skip + 1] = -1;
info->m_J2linearAxis[2 * skip + 2] = -1;
}
@@ -797,7 +805,11 @@ void btHingeConstraint::getInfo2InternalUsingFrameOffset(btConstraintInfo2* info
for (i=0; i<3; i++) info->m_J1linearAxis[s0+i] = p[i];
for (i=0; i<3; i++) info->m_J1linearAxis[s1+i] = q[i];
for (i=0; i<3; i++) info->m_J1linearAxis[s2+i] = ax1[i];
for (i=0; i<3; i++) info->m_J2linearAxis[s0+i] = -p[i];
for (i=0; i<3; i++) info->m_J2linearAxis[s1+i] = -q[i];
for (i=0; i<3; i++) info->m_J2linearAxis[s2+i] = -ax1[i];
// compute three elements of right hand side
btScalar rhs = k * p.dot(ofs);