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Added some helper methods for constraints and btMatrix3x3,

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Thanks to  francois, See Issue 466

Prevent crash in SoftBodyDemo, when picking constraints and demo-mode switches to next demo.
This commit is contained in:
erwin.coumans
2011-02-27 03:28:53 +00:00
parent e5b5126876
commit 4e8596eef5
14 changed files with 217 additions and 35 deletions
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24
src/BulletDynamics/ConstraintSolver/btUniversalConstraint.cpp
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@@ -61,3 +61,27 @@ btUniversalConstraint::btUniversalConstraint(btRigidBody& rbA, btRigidBody& rbB,
setAngularUpperLimit(btVector3(0.f, SIMD_HALF_PI - UNIV_EPS, SIMD_PI - UNIV_EPS));
}
void btUniversalConstraint::setAxis(const btVector3& axis1,const btVector3& axis2)
{
m_axis1 = axis1;
m_axis2 = axis2;
btVector3 zAxis = axis1.normalized();
btVector3 yAxis = axis2.normalized();
btVector3 xAxis = yAxis.cross(zAxis); // we want right coordinate system
btTransform frameInW;
frameInW.setIdentity();
frameInW.getBasis().setValue( xAxis[0], yAxis[0], zAxis[0],
xAxis[1], yAxis[1], zAxis[1],
xAxis[2], yAxis[2], zAxis[2]);
frameInW.setOrigin(m_anchor);
// now get constraint frame in local coordinate systems
m_frameInA = m_rbA.getCenterOfMassTransform().inverse() * frameInW;
m_frameInB = m_rbB.getCenterOfMassTransform().inverse() * frameInW;
calculateTransforms();
}