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Fix in generic 6dof constraint, when springs/limits/motors are combined

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Added btGeneric6DofConstraint::getRelativePivotPosition to read relative linear position of the constraint frame (pivot)
This commit is contained in:
erwin.coumans
2009-06-06 01:09:06 +00:00
parent ee664e7750
commit a9141d5daf
2 changed files with 21 additions and 6 deletions
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11
src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h
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@@ -382,14 +382,21 @@ public:
//! Get the relative Euler angle
/*!
\pre btGeneric6DofConstraint.buildJacobian must be called previously.
\pre btGeneric6DofConstraint::calculateTransforms() must be called previously.
*/
btScalar getAngle(int axis_index) const;
//! Get the relative position of the constraint pivot
/*!
\pre btGeneric6DofConstraint::calculateTransforms() must be called previously.
*/
btScalar getRelativePivotPosition(int axis_index) const;
//! Test angular limit.
/*!
Calculates angular correction and returns true if limit needs to be corrected.
\pre btGeneric6DofConstraint.buildJacobian must be called previously.
\pre btGeneric6DofConstraint::calculateTransforms() must be called previously.
*/
bool testAngularLimitMotor(int axis_index);