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Use the opposite constraint axis inside the constraint solver for the second object (-normal).

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This makes it easier to port existing constraints and makes it 100% compatible with ODE quickstep constraint layout (getInfo2)
This commit is contained in:
erwin.coumans
2008-12-03 04:52:23 +00:00
parent 12a9a6e412
commit a064fd2052
4 changed files with 43 additions and 48 deletions
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4
Demos/Benchmarks/main.cpp
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@@ -27,9 +27,9 @@ int main(int argc,char** argv)
GLDebugDrawer gDebugDrawer;
// BenchmarkDemo1 benchmarkDemo;
// BenchmarkDemo2 benchmarkDemo;
BenchmarkDemo2 benchmarkDemo;
// BenchmarkDemo3 benchmarkDemo;
BenchmarkDemo4 benchmarkDemo;
// BenchmarkDemo4 benchmarkDemo;
// BenchmarkDemo5 benchmarkDemo;
// BenchmarkDemo6 benchmarkDemo;
// BenchmarkDemo7 benchmarkDemo;

2
Demos/OpenGL/DemoApplication.cpp
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@@ -773,7 +773,7 @@ void DemoApplication::mouseMotionFunc(int x,int y)
btRigidBody* DemoApplication::localCreateRigidBody(float mass, const btTransform& startTransform,btCollisionShape* shape)
{
btAssert(shape->getShapeType() != INVALID_SHAPE_PROXYTYPE);
btAssert((!shape || shape->getShapeType() != INVALID_SHAPE_PROXYTYPE));
//rigidbody is dynamic if and only if mass is non zero, otherwise static
bool isDynamic = (mass != 0.f);