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Bug in btAdjustAngleToLimits() (issue 377) fixed

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rponom committed 2010-09-16 21:04:41 +00:00
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commit a1c1007a81
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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)
{
btScalar diffLo = btNormalizeAngle(angleLowerLimitInRadians - angleInRadians); // this is positive
btScalar diffLo = btFabs(btNormalizeAngle(angleLowerLimitInRadians - angleInRadians));
btScalar diffHi = btFabs(btNormalizeAngle(angleUpperLimitInRadians - angleInRadians));
return (diffLo < diffHi) ? angleInRadians : (angleInRadians + SIMD_2_PI);
}
else if(angleInRadians > angleUpperLimitInRadians)
{
btScalar diffHi = btNormalizeAngle(angleInRadians - angleUpperLimitInRadians); // this is positive
btScalar diffHi = btFabs(btNormalizeAngle(angleInRadians - angleUpperLimitInRadians));
btScalar diffLo = btFabs(btNormalizeAngle(angleInRadians - angleLowerLimitInRadians));
return (diffLo < diffHi) ? (angleInRadians - SIMD_2_PI) : angleInRadians;
}