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enable btMultiBodyGearConstraint positional error correction

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fix multibody debug drawing of joint frames
This commit is contained in:
Erwin Coumans
2018-05-01 17:40:26 -07:00
parent dde3140987
commit 988d78cb61
4 changed files with 23 additions and 13 deletions
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9
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
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@@ -1342,9 +1342,12 @@ void btDiscreteDynamicsWorld::debugDrawConstraint(btTypedConstraint* constraint)
btVector3 axis = tr.getBasis().getColumn(0);
btScalar minTh = p6DOF->getRotationalLimitMotor(1)->m_loLimit;
btScalar maxTh = p6DOF->getRotationalLimitMotor(1)->m_hiLimit;
btScalar minPs = p6DOF->getRotationalLimitMotor(2)->m_loLimit;
btScalar maxPs = p6DOF->getRotationalLimitMotor(2)->m_hiLimit;
getDebugDrawer()->drawSpherePatch(center, up, axis, dbgDrawSize * btScalar(.9f), minTh, maxTh, minPs, maxPs, btVector3(0, 0, 0));
if (minTh <= maxTh)
{
btScalar minPs = p6DOF->getRotationalLimitMotor(2)->m_loLimit;
btScalar maxPs = p6DOF->getRotationalLimitMotor(2)->m_hiLimit;
getDebugDrawer()->drawSpherePatch(center, up, axis, dbgDrawSize * btScalar(.9f), minTh, maxTh, minPs, maxPs, btVector3(0, 0, 0));
}
axis = tr.getBasis().getColumn(1);
btScalar ay = p6DOF->getAngle(1);
btScalar az = p6DOF->getAngle(2);