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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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19
src/LinearMath/btScalar.h
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@@ -195,6 +195,7 @@ SIMD_FORCE_INLINE btScalar btAtan2(btScalar x, btScalar y) { return atan2(x, y);
SIMD_FORCE_INLINE btScalar btExp(btScalar x) { return exp(x); }
SIMD_FORCE_INLINE btScalar btLog(btScalar x) { return log(x); }
SIMD_FORCE_INLINE btScalar btPow(btScalar x,btScalar y) { return pow(x,y); }
SIMD_FORCE_INLINE btScalar btFmod(btScalar x,btScalar y) { return fmod(x,y); }
#else
@@ -232,6 +233,7 @@ SIMD_FORCE_INLINE btScalar btAtan2(btScalar x, btScalar y) { return atan2f(x, y)
SIMD_FORCE_INLINE btScalar btExp(btScalar x) { return expf(x); }
SIMD_FORCE_INLINE btScalar btLog(btScalar x) { return logf(x); }
SIMD_FORCE_INLINE btScalar btPow(btScalar x,btScalar y) { return powf(x,y); }
SIMD_FORCE_INLINE btScalar btFmod(btScalar x,btScalar y) { return fmodf(x,y); }
#endif
@@ -430,5 +432,22 @@ SIMD_FORCE_INLINE double btUnswapEndianDouble(const unsigned char *src)
return d;
}
// returns normalized value in range [-SIMD_PI, SIMD_PI]
SIMD_FORCE_INLINE btScalar btNormalizeAngle(btScalar angleInRadians)
{
angleInRadians = btFmod(angleInRadians, SIMD_2_PI);
if(angleInRadians < -SIMD_PI)
{
return angleInRadians + SIMD_2_PI;
}
else if(angleInRadians > SIMD_PI)
{
return angleInRadians - SIMD_2_PI;
}
else
{
return angleInRadians;
}
}
#endif //SIMD___SCALAR_H