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

2009-06-12 01:23:47 +00:00
parent 699ba8f5b2
commit 99f6ff7cf3
11 changed files with 121 additions and 27 deletions
--- a/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h
+++ b/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h
@@ -129,8 +129,8 @@ public:

 	void	setLimit(btScalar low,btScalar high,btScalar _softness = 0.9f, btScalar _biasFactor = 0.3f, btScalar _relaxationFactor = 1.0f)
 	{
-		m_lowerLimit = low;
-		m_upperLimit = high;
+		m_lowerLimit = btNormalizeAngle(low);
+		m_upperLimit = btNormalizeAngle(high);

 		m_limitSoftness =  _softness;
 		m_biasFactor = _biasFactor;