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fix angular only for btHingeConstraint

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erwin.coumans
2010-07-30 22:57:49 +00:00
parent 51869dceda
commit 73ca9bafc8
1 changed files with 16 additions and 10 deletions
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8
src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp
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@@ -773,17 +773,23 @@ void btHingeConstraint::getInfo2InternalUsingFrameOffset(btConstraintInfo2* info
for (i=0; i<3; i++) info->m_J1angularAxis[s2+i] = tmpA[i]; for (i=0; i<3; i++) info->m_J1angularAxis[s2+i] = tmpA[i];
for (i=0; i<3; i++) info->m_J2angularAxis[s2+i] = -tmpB[i]; for (i=0; i<3; i++) info->m_J2angularAxis[s2+i] = -tmpB[i];
btScalar k = info->fps * info->erp;
if (!m_angularOnly)
{
for (i=0; i<3; i++) info->m_J1linearAxis[s0+i] = p[i]; for (i=0; i<3; i++) info->m_J1linearAxis[s0+i] = p[i];
for (i=0; i<3; i++) info->m_J1linearAxis[s1+i] = q[i]; for (i=0; i<3; i++) info->m_J1linearAxis[s1+i] = q[i];
for (i=0; i<3; i++) info->m_J1linearAxis[s2+i] = ax1[i]; for (i=0; i<3; i++) info->m_J1linearAxis[s2+i] = ax1[i];
// compute three elements of right hand side // compute three elements of right hand side
btScalar k = info->fps * info->erp;
btScalar rhs = k * p.dot(ofs); btScalar rhs = k * p.dot(ofs);
info->m_constraintError[s0] = rhs; info->m_constraintError[s0] = rhs;
rhs = k * q.dot(ofs); rhs = k * q.dot(ofs);
info->m_constraintError[s1] = rhs; info->m_constraintError[s1] = rhs;
rhs = k * ax1.dot(ofs); rhs = k * ax1.dot(ofs);
info->m_constraintError[s2] = rhs; info->m_constraintError[s2] = rhs;
}
// the hinge axis should be the only unconstrained // the hinge axis should be the only unconstrained
// rotational axis, the angular velocity of the two bodies perpendicular to // rotational axis, the angular velocity of the two bodies perpendicular to
// the hinge axis should be equal. thus the constraint equations are // the hinge axis should be equal. thus the constraint equations are