Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Fix for the slider constraint (case when useLinearReferenceFrameA == false)

Browse Source
This commit is contained in:
rponom
2010-02-04 01:21:45 +00:00
parent 58c5630d7f
commit af1dafc659
3 changed files with 7 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files

9
src/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp
View File

@@ -68,7 +68,7 @@ void btSliderConstraint::initParams()
m_maxAngMotorForce = btScalar(0.);
m_accumulatedAngMotorImpulse = btScalar(0.0);
m_useLinearReferenceFrameA = USE_OFFSET_FOR_CONSTANT_FRAME;
m_flags = 0;
m_flags = 0;
calculateTransforms(m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform());
@@ -82,18 +82,19 @@ btSliderConstraint::btSliderConstraint(btRigidBody& rbA, btRigidBody& rbB, const
: btTypedConstraint(SLIDER_CONSTRAINT_TYPE, rbA, rbB),
m_useSolveConstraintObsolete(false),
m_frameInA(frameInA),
m_frameInB(frameInB)
m_frameInB(frameInB),
m_useLinearReferenceFrameA(useLinearReferenceFrameA)
{
initParams();
}
btSliderConstraint::btSliderConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameB)
btSliderConstraint::btSliderConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameA)
: btTypedConstraint(SLIDER_CONSTRAINT_TYPE, getFixedBody(), rbB),
m_useSolveConstraintObsolete(false),
m_frameInB(frameInB),
m_useLinearReferenceFrameA(useLinearReferenceFrameB)
m_useLinearReferenceFrameA(useLinearReferenceFrameA)
{
///not providing rigidbody A means implicitly using worldspace for body A
m_frameInA = rbB.getCenterOfMassTransform() * m_frameInB;