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remove a little bit of code duplication, small fix (nrow should be srow), and initialize return value to SIMD_INFINITY for nonvalid parameters/axis.

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erwin.coumans
2010-02-04 23:06:25 +00:00
parent 5eeb624585
commit 2e094c62ac
4 changed files with 52 additions and 171 deletions
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7
src/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp
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@@ -507,7 +507,7 @@ void btSliderConstraint::getInfo2NonVirtual(btConstraintInfo2* info, const btTra
{
if(m_flags & BT_SLIDER_FLAGS_CFM_DIRANG)
{
info->cfm[nrow] = m_cfmDirAng;
info->cfm[srow] = m_cfmDirAng;
}
btScalar mot_fact = getMotorFactor(m_angPos, m_lowerAngLimit, m_upperAngLimit, getTargetAngMotorVelocity(), info->fps * currERP);
info->m_constraintError[srow] = mot_fact * getTargetAngMotorVelocity();
@@ -1216,9 +1216,8 @@ void btSliderConstraint::getInfo2NonVirtualUsingFrameOffset(btConstraintInfo2* i
{
if(m_flags & BT_SLIDER_FLAGS_CFM_DIRANG)
{
info->cfm[nrow] = m_cfmDirAng;
info->cfm[srow] = m_cfmDirAng;
}
info->cfm[srow] = btScalar(0.0);
btScalar mot_fact = getMotorFactor(m_angPos, m_lowerAngLimit, m_upperAngLimit, getTargetAngMotorVelocity(), info->fps * currERP);
info->m_constraintError[srow] = mot_fact * getTargetAngMotorVelocity();
info->m_lowerLimit[srow] = -getMaxAngMotorForce() * info->fps;
@@ -1365,7 +1364,7 @@ void btSliderConstraint::setParam(int num, btScalar value, int axis)
///return the local value of parameter
btScalar btSliderConstraint::getParam(int num, int axis) const
{
btScalar retVal;
btScalar retVal(SIMD_INFINITY);
switch(num)
{
case BT_CONSTRAINT_STOP_ERP :