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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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2
src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
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@@ -112,7 +112,6 @@ int btRotationalLimitMotor::testLimitValue(btScalar test_value)
m_currentLimit = 0;//Free from violation
return 0;
}
if (test_value < m_loLimit)
{
m_currentLimit = 1;//low limit violation
@@ -420,6 +419,7 @@ void btGeneric6DofConstraint::buildAngularJacobian(
bool btGeneric6DofConstraint::testAngularLimitMotor(int axis_index)
{
btScalar angle = m_calculatedAxisAngleDiff[axis_index];
angle = btAdjustAngleToLimits(angle, m_angularLimits[axis_index].m_loLimit, m_angularLimits[axis_index].m_hiLimit);
m_angularLimits[axis_index].m_currentPosition = angle;
//test limits
m_angularLimits[axis_index].testLimitValue(angle);