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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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22
src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
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@@ -19,19 +19,19 @@ email: projectileman@yahoo.com
http://gimpact.sf.net
*/
#include "btGeneric6DofConstraint.h"
#include "BulletDynamics/Dynamics/btRigidBody.h"
#include "LinearMath/btTransformUtil.h"
#include <new>
#define D6_USE_OBSOLETE_METHOD false
//-----------------------------------------------------------------------------
btGeneric6DofConstraint::btGeneric6DofConstraint()
:btTypedConstraint(D6_CONSTRAINT_TYPE),
m_useLinearReferenceFrameA(true),
m_useSolveConstraintObsolete(false)
//m_useSolveConstraintObsolete(true)
m_useSolveConstraintObsolete(D6_USE_OBSOLETE_METHOD)
{
}
@@ -42,8 +42,7 @@ btGeneric6DofConstraint::btGeneric6DofConstraint(btRigidBody& rbA, btRigidBody&
, m_frameInA(frameInA)
, m_frameInB(frameInB),
m_useLinearReferenceFrameA(useLinearReferenceFrameA),
m_useSolveConstraintObsolete(false)
//m_useSolveConstraintObsolete(true)
m_useSolveConstraintObsolete(D6_USE_OBSOLETE_METHOD)
{
}
@@ -537,7 +536,6 @@ int btGeneric6DofConstraint::setLinearLimits(btConstraintInfo2* info)
int row = 0;
//solve linear limits
btRotationalLimitMotor limot;
bool useBasisBodyB = (m_rbB.getInvMass() == btScalar(0.f));
for (int i=0;i<3 ;i++ )
{
if(m_linearLimits.needApplyForce(i))
@@ -554,16 +552,8 @@ int btGeneric6DofConstraint::setLinearLimits(btConstraintInfo2* info)
limot.m_maxLimitForce = btScalar(0.f);
limot.m_maxMotorForce = m_linearLimits.m_maxMotorForce[i];
limot.m_targetVelocity = m_linearLimits.m_targetVelocity[i];
btVector3 axis;
if(useBasisBodyB)
{
axis = m_calculatedTransformB.getBasis().getColumn(i);
}
else
{
axis = m_calculatedTransformA.getBasis().getColumn(i);
}
row += get_limit_motor_info2(&limot, &m_rbA, &m_rbB, info, row, axis, 0);
btVector3 axis = m_calculatedTransformA.getBasis().getColumn(i);
row += get_limit_motor_info2(&limot, &m_rbA, &m_rbB, info, row, axis, 0);
}
}
return row;