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

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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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16
src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h
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@@ -65,8 +65,8 @@ public:
m_targetVelocity = 0;
m_maxMotorForce = 0.1f;
m_maxLimitForce = 300.0f;
m_loLimit = -SIMD_INFINITY;
m_hiLimit = SIMD_INFINITY;
m_loLimit = 1.0f;
m_hiLimit = -1.0f;
m_ERP = 0.5f;
m_bounce = 0.0f;
m_damping = 1.0f;
@@ -412,16 +412,14 @@ public:
void setAngularLowerLimit(const btVector3& angularLower)
{
m_angularLimits[0].m_loLimit = angularLower.getX();
m_angularLimits[1].m_loLimit = angularLower.getY();
m_angularLimits[2].m_loLimit = angularLower.getZ();
for(int i = 0; i < 3; i++)
m_angularLimits[i].m_loLimit = btNormalizeAngle(angularLower[i]);
}
void setAngularUpperLimit(const btVector3& angularUpper)
{
m_angularLimits[0].m_hiLimit = angularUpper.getX();
m_angularLimits[1].m_hiLimit = angularUpper.getY();
m_angularLimits[2].m_hiLimit = angularUpper.getZ();
for(int i = 0; i < 3; i++)
m_angularLimits[i].m_hiLimit = btNormalizeAngle(angularUpper[i]);
}
//! Retrieves the angular limit informacion
@@ -446,6 +444,8 @@ public:
}
else
{
lo = btNormalizeAngle(lo);
hi = btNormalizeAngle(hi);
m_angularLimits[axis-3].m_loLimit = lo;
m_angularLimits[axis-3].m_hiLimit = hi;
}