Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

fixes in btQuaternion::inverse, fixed in btConeTwistConstraint, RagdollDemo and BenchmarkDemo.

Browse Source 
Some constraint limits for btConeTwistConstraint might need to flip sign now.
This commit is contained in:
erwin.coumans
2008-04-07 21:58:36 +00:00
parent c1a10fd1fe
commit 569a949ae3
4 changed files with 15 additions and 26 deletions
Download Patch File Download Diff File Expand all files Collapse all files

16
src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp
View File

@@ -33,11 +33,6 @@ btConeTwistConstraint::btConeTwistConstraint(btRigidBody& rbA,btRigidBody& rbB,
:btTypedConstraint(CONETWIST_CONSTRAINT_TYPE, rbA,rbB),m_rbAFrame(rbAFrame),m_rbBFrame(rbBFrame),
m_angularOnly(false)
{
// flip axis for correct angles
m_rbBFrame.getBasis()[1][0] *= btScalar(-1.);
m_rbBFrame.getBasis()[1][1] *= btScalar(-1.);
m_rbBFrame.getBasis()[1][2] *= btScalar(-1.);
m_swingSpan1 = btScalar(1e30);
m_swingSpan2 = btScalar(1e30);
m_twistSpan = btScalar(1e30);
@@ -55,15 +50,6 @@ btConeTwistConstraint::btConeTwistConstraint(btRigidBody& rbA,const btTransform&
{
m_rbBFrame = m_rbAFrame;
// flip axis for correct angles
m_rbBFrame.getBasis()[1][0] *= btScalar(-1.);
m_rbBFrame.getBasis()[1][1] *= btScalar(-1.);
m_rbBFrame.getBasis()[1][2] *= btScalar(-1.);
m_rbBFrame.getBasis()[2][0] *= btScalar(-1.);
m_rbBFrame.getBasis()[2][1] *= btScalar(-1.);
m_rbBFrame.getBasis()[2][2] *= btScalar(-1.);
m_swingSpan1 = btScalar(1e30);
m_swingSpan2 = btScalar(1e30);
m_twistSpan = btScalar(1e30);
@@ -143,7 +129,7 @@ void btConeTwistConstraint::buildJacobian()
btScalar RMaxAngle1Sq = 1.0f / (m_swingSpan1*m_swingSpan1);
btScalar RMaxAngle2Sq = 1.0f / (m_swingSpan2*m_swingSpan2);
btScalar EllipseAngle = btFabs(swing1)* RMaxAngle1Sq + btFabs(swing2) * RMaxAngle2Sq;
btScalar EllipseAngle = btFabs(swing1*swing1)* RMaxAngle1Sq + btFabs(swing2*swing2) * RMaxAngle2Sq;
if (EllipseAngle > 1.0f)
{