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Bug in btAdjustAngleToLimits() (issue 377) fixed

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rponom
2010-09-16 21:04:41 +00:00
parent d82af1259f
commit a1c1007a81
1 changed files with 2 additions and 2 deletions
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4
src/BulletDynamics/ConstraintSolver/btTypedConstraint.h
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@@ -268,13 +268,13 @@ SIMD_FORCE_INLINE btScalar btAdjustAngleToLimits(btScalar angleInRadians, btScal
} }
else if(angleInRadians < angleLowerLimitInRadians) else if(angleInRadians < angleLowerLimitInRadians)
{ {
btScalar diffLo = btNormalizeAngle(angleLowerLimitInRadians - angleInRadians); // this is positive btScalar diffLo = btFabs(btNormalizeAngle(angleLowerLimitInRadians - angleInRadians));
btScalar diffHi = btFabs(btNormalizeAngle(angleUpperLimitInRadians - angleInRadians)); btScalar diffHi = btFabs(btNormalizeAngle(angleUpperLimitInRadians - angleInRadians));
return (diffLo < diffHi) ? angleInRadians : (angleInRadians + SIMD_2_PI); return (diffLo < diffHi) ? angleInRadians : (angleInRadians + SIMD_2_PI);
} }
else if(angleInRadians > angleUpperLimitInRadians) else if(angleInRadians > angleUpperLimitInRadians)
{ {
btScalar diffHi = btNormalizeAngle(angleInRadians - angleUpperLimitInRadians); // this is positive btScalar diffHi = btFabs(btNormalizeAngle(angleInRadians - angleUpperLimitInRadians));
btScalar diffLo = btFabs(btNormalizeAngle(angleInRadians - angleLowerLimitInRadians)); btScalar diffLo = btFabs(btNormalizeAngle(angleInRadians - angleLowerLimitInRadians));
return (diffLo < diffHi) ? (angleInRadians - SIMD_2_PI) : angleInRadians; return (diffLo < diffHi) ? (angleInRadians - SIMD_2_PI) : angleInRadians;
} }