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process contact and non-contact constraints inside the same iteration loop

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added first draft for hingeConstraint motor
This commit is contained in:
ejcoumans
2006-12-12 03:15:11 +00:00
parent a4541d2470
commit 6dff5a218e
15 changed files with 267 additions and 203 deletions
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2
src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
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@@ -289,7 +289,7 @@ void btGeneric6DofConstraint::solveConstraint(btScalar timeStep)
btScalar loLimit = m_upperLimit[i+3] > -3.1415 ? m_lowerLimit[i+3] : -1e30f;
btScalar hiLimit = m_upperLimit[i+3] < 3.1415 ? m_upperLimit[i+3] : 1e30f;
float projAngle = -2.*xyz[i];
float projAngle = -2.f*xyz[i];
if (projAngle < loLimit)
{