Removed global operator- in btQuaternion, and rewrote the 'getAxis' method

Add a unit test for testQuaternionGetAxisAngle Thanks to ejtttje, fixes Issue 538
2011-09-13 23:37:05 +00:00
parent 02a0574ceb
commit b690019e39
5 changed files with 108 additions and 13 deletions
--- a/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp
+++ b/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp
@@ -918,7 +918,7 @@ void btConeTwistConstraint::computeTwistLimitInfo(const btQuaternion& qTwist,

 	if (twistAngle > SIMD_PI) // long way around. flip quat and recalculate.
 	{
-		qMinTwist = operator-(qTwist);
+		qMinTwist = -(qTwist);
 		twistAngle = qMinTwist.getAngle();
 	}
 	if (twistAngle < 0)