Merge pull request #1119 from AndrewMeadows/minor-cleanup-contraints

fix typo in btHingeConstraint method name

src/Bullet3Dynamics/ConstraintSolver/b3Generic6DofConstraint.cpp

@@ -516,7 +516,7 @@ int b3Generic6DofConstraint::get_limit_motor_info2(
 	b3ConstraintInfo2 *info, int row, b3Vector3& ax1, int rotational,int rotAllowed)
 {
     int srow = row * info->rowskip;
-    int powered = limot->m_enableMotor;
+    bool powered = limot->m_enableMotor;
     int limit = limot->m_currentLimit;
     if (powered || limit)
     {   // if the joint is powered, or has joint limits, add in the extra row
@@ -584,7 +584,7 @@ int b3Generic6DofConstraint::get_limit_motor_info2(
         }
         // if we're limited low and high simultaneously, the joint motor is
         // ineffective
-        if (limit && (limot->m_loLimit == limot->m_hiLimit)) powered = 0;
+        if (limit && (limot->m_loLimit == limot->m_hiLimit)) powered = false;
         info->m_constraintError[srow] = b3Scalar(0.f);
         if (powered)
         {

src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp

@@ -776,7 +776,7 @@ int btGeneric6DofConstraint::get_limit_motor_info2(
 	btConstraintInfo2 *info, int row, btVector3& ax1, int rotational,int rotAllowed)
 {
     int srow = row * info->rowskip;
-    int powered = limot->m_enableMotor;
+    bool powered = limot->m_enableMotor;
     int limit = limot->m_currentLimit;
     if (powered || limit)
     {   // if the joint is powered, or has joint limits, add in the extra row
@@ -840,7 +840,7 @@ int btGeneric6DofConstraint::get_limit_motor_info2(
         }
         // if we're limited low and high simultaneously, the joint motor is
         // ineffective
-        if (limit && (limot->m_loLimit == limot->m_hiLimit)) powered = 0;
+        if (limit && (limot->m_loLimit == limot->m_hiLimit)) powered = false;
         info->m_constraintError[srow] = btScalar(0.f);
         if (powered)
         {

src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp

@@ -556,12 +556,8 @@ void btHingeConstraint::getInfo2Internal(btConstraintInfo2* info, const btTransf
 
 	}
 	// if the hinge has joint limits or motor, add in the extra row
-	int powered = 0;
+	bool powered = getEnableAngularMotor();
-	if(getEnableAngularMotor())
+	if(limit || powered)
-	{
-		powered = 1;
-	}
-	if(limit || powered) 
 	{
 		nrow++;
 		srow = nrow * info->rowskip;
@@ -577,7 +573,7 @@ void btHingeConstraint::getInfo2Internal(btConstraintInfo2* info, const btTransf
 		btScalar histop = getUpperLimit();
 		if(limit && (lostop == histop))
 		{  // the joint motor is ineffective
-			powered = 0;
+			powered = false;
 		}
 		info->m_constraintError[srow] = btScalar(0.0f);
 		btScalar currERP = (m_flags & BT_HINGE_FLAGS_ERP_STOP) ? m_stopERP : normalErp;
@@ -951,12 +947,8 @@ void btHingeConstraint::getInfo2InternalUsingFrameOffset(btConstraintInfo2* info
 
 	}
 	// if the hinge has joint limits or motor, add in the extra row
-	int powered = 0;
+	bool powered = getEnableAngularMotor();
-	if(getEnableAngularMotor())
+	if(limit || powered)
-	{
-		powered = 1;
-	}
-	if(limit || powered) 
 	{
 		nrow++;
 		srow = nrow * info->rowskip;
@@ -972,7 +964,7 @@ void btHingeConstraint::getInfo2InternalUsingFrameOffset(btConstraintInfo2* info
 		btScalar histop = getUpperLimit();
 		if(limit && (lostop == histop))
 		{  // the joint motor is ineffective
-			powered = 0;
+			powered = false;
 		}
 		info->m_constraintError[srow] = btScalar(0.0f);
 		btScalar currERP = (m_flags & BT_HINGE_FLAGS_ERP_STOP) ? m_stopERP : normalErp;

src/BulletDynamics/ConstraintSolver/btHingeConstraint.h

@@ -314,7 +314,7 @@ public:
 	{ 
 		return m_enableAngularMotor; 
 	}
-	inline btScalar getMotorTargetVelosity() 
+	inline btScalar getMotorTargetVelocity() 
 	{ 
 		return m_motorTargetVelocity; 
 	}

src/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp

@@ -364,7 +364,6 @@ void btSliderConstraint::getInfo2NonVirtual(btConstraintInfo2* info, const btTra
 	int srow;
 	btScalar limit_err;
 	int limit;
-	int powered;
 
 	// next two rows. 
 	// we want: velA + wA x relA == velB + wB x relB ... but this would
@@ -470,13 +469,9 @@ void btSliderConstraint::getInfo2NonVirtual(btConstraintInfo2* info, const btTra
 		limit_err = getLinDepth() *  signFact;
 		limit = (limit_err > btScalar(0.0)) ? 2 : 1;
 	}
-	powered = 0;
+	bool powered = getPoweredLinMotor();
-	if(getPoweredLinMotor())
-	{
-		powered = 1;
-	}
 	// if the slider has joint limits or motor, add in the extra row
-	if (limit || powered) 
+	if (limit || powered)
 	{
 		nrow++;
 		srow = nrow * info->rowskip;
@@ -524,7 +519,7 @@ void btSliderConstraint::getInfo2NonVirtual(btConstraintInfo2* info, const btTra
 		btScalar histop = getUpperLinLimit();
 		if(limit && (lostop == histop))
 		{  // the joint motor is ineffective
-			powered = 0;
+			powered = false;
 		}
 		info->m_constraintError[srow] = 0.;
 		info->m_lowerLimit[srow] = 0.;
@@ -609,12 +604,8 @@ void btSliderConstraint::getInfo2NonVirtual(btConstraintInfo2* info, const btTra
 		limit = (limit_err > btScalar(0.0)) ? 1 : 2;
 	}
 	// if the slider has joint limits, add in the extra row
-	powered = 0;
+	powered = getPoweredAngMotor();
-	if(getPoweredAngMotor())
+	if(limit || powered)
-	{
-		powered = 1;
-	}
-	if(limit || powered) 
 	{
 		nrow++;
 		srow = nrow * info->rowskip;
@@ -630,7 +621,7 @@ void btSliderConstraint::getInfo2NonVirtual(btConstraintInfo2* info, const btTra
 		btScalar histop = getUpperAngLimit();
 		if(limit && (lostop == histop))
 		{  // the joint motor is ineffective
-			powered = 0;
+			powered = false;
 		}
 		currERP = (m_flags & BT_SLIDER_FLAGS_ERP_LIMANG) ? m_softnessLimAng : info->erp;
 		if(powered)