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dgregorius: changes to generic constraint

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dondickied
2006-06-15 13:37:49 +00:00
parent 43f5e2af0f
commit 6dfe8389a1
3 changed files with 35 additions and 11 deletions
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18
Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.cpp
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@@ -1156,8 +1156,8 @@ int CcdPhysicsEnvironment::createConstraint(class PHY_IPhysicsController* ctrl
SimdVector3 pivotInB = rb1 ? rb1->getCenterOfMassTransform().inverse()(rb0->getCenterOfMassTransform()(pivotInA)) : pivotInA;
SimdVector3 axisInA(axisX,axisY,axisZ);
SimdVector3 axisInB = rb1 ?
(rb1->getCenterOfMassTransform().getBasis().inverse()*(rb0->getCenterOfMassTransform().getBasis() * -axisInA)) :
rb0->getCenterOfMassTransform().getBasis() * -axisInA;
(rb1->getCenterOfMassTransform().getBasis().inverse()*(rb0->getCenterOfMassTransform().getBasis() * axisInA)) :
rb0->getCenterOfMassTransform().getBasis() * axisInA;
bool angularOnly = false;
@@ -1195,9 +1195,19 @@ int CcdPhysicsEnvironment::createConstraint(class PHY_IPhysicsController* ctrl
{
SimdTransform frameInA;
SimdTransform frameInB;
SimdVector3 axis1, axis2;
SimdPlaneSpace1( axisInA, axis1, axis2 );
frameInA.setIdentity();
frameInB.setIdentity();
frameInA.getBasis().setValue( axisInA.x(), axis1.x(), axis2.x(),
axisInA.y(), axis1.y(), axis2.y(),
axisInA.z(), axis1.z(), axis2.z() );
SimdPlaneSpace1( axisInB, axis1, axis2 );
frameInB.getBasis().setValue( axisInB.x(), axis1.x(), axis2.x(),
axisInB.y(), axis1.y(), axis2.y(),
axisInB.z(), axis1.z(), axis2.z() );
frameInA.setOrigin( pivotInA );
frameInB.setOrigin( pivotInB );