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Bug in 6DOF constraint fixed

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Twist is now locked when twistSpan == 0 for btConeTwistConstraint
Hinge axis for rigidBodyB is no longer flipped
This commit is contained in:
rponom
2009-02-06 00:04:32 +00:00
parent fd2cc88db8
commit 2766d19d65
4 changed files with 35 additions and 42 deletions
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2
src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp
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@@ -610,7 +610,7 @@ void btConeTwistConstraint::calcAngleInfo2()
// or you're trying to set at least one of the swing limits too small. (if so, do you really want a conetwist constraint?)
}
if (m_twistSpan >= btScalar(0.05f))
if (m_twistSpan >= btScalar(0.f))
{
btVector3 twistAxis;
computeTwistLimitInfo(qABTwist, m_twistAngle, twistAxis);