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Some fixes to work with constraint angle limits close to -PI or PI

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This commit is contained in:
rponom
2009-06-12 01:23:47 +00:00
parent 699ba8f5b2
commit 99f6ff7cf3
11 changed files with 121 additions and 27 deletions
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12
Demos/ConstraintDemo/ConstraintDemo.cpp
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@@ -169,10 +169,12 @@ void ConstraintDemo::initPhysics()
slider->setLinearUpperLimit(hiSliderLimit);
//range should be small, otherwise singularities will 'explode' the constraint
slider->setAngularLowerLimit(btVector3(-1.5,0,0));
slider->setAngularUpperLimit(btVector3(1.5,0,0));
// slider->setAngularLowerLimit(btVector3(-1.5,0,0));
// slider->setAngularUpperLimit(btVector3(1.5,0,0));
// slider->setAngularLowerLimit(btVector3(0,0,0));
// slider->setAngularUpperLimit(btVector3(0,0,0));
slider->setAngularLowerLimit(btVector3(-SIMD_PI,0,0));
slider->setAngularUpperLimit(btVector3(1.5,0,0));
slider->getTranslationalLimitMotor()->m_enableMotor[0] = true;
slider->getTranslationalLimitMotor()->m_targetVelocity[0] = -5.0f;
@@ -198,7 +200,11 @@ void ConstraintDemo::initPhysics()
spDoorHinge = new btHingeConstraint( *pDoorBody, btPivotA, btAxisA );
spDoorHinge->setLimit( 0.0f, M_PI_2 );
// spDoorHinge->setLimit( 0.0f, M_PI_2 );
// test problem values
// spDoorHinge->setLimit( -M_PI, M_PI*0.8f);
spDoorHinge->setLimit( -M_PI*0.8f, M_PI);
// spDoorHinge->setLimit( 0.0f, 0.0f );
m_dynamicsWorld->addConstraint(spDoorHinge);
spDoorHinge->setDbgDrawSize(btScalar(5.f));