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make btMultiBodyFixedConstraint.cpp linear/angular constraint frame consistent

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This commit is contained in:
Erwin Coumans
2017-10-18 19:47:32 -07:00
parent c178c101a8
commit c480fab9a0
1 changed files with 1 additions and 1 deletions
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src/BulletDynamics/Featherstone/btMultiBodyFixedConstraint.cpp
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@@ -156,7 +156,7 @@ void btMultiBodyFixedConstraint::createConstraintRows(btMultiBodyConstraintArray
btVector3 constraintNormalAng(0,0,0); btVector3 constraintNormalAng(0,0,0);
btScalar posError = 0.0; btScalar posError = 0.0;
if (i < 3) { if (i < 3) {
constraintNormalLin[i] = -1; constraintNormalLin[i] = 1;
posError = (pivotAworld-pivotBworld).dot(constraintNormalLin); posError = (pivotAworld-pivotBworld).dot(constraintNormalLin);
fillMultiBodyConstraint(constraintRow, data, 0, 0, constraintNormalAng, fillMultiBodyConstraint(constraintRow, data, 0, 0, constraintNormalAng,
constraintNormalLin, pivotAworld, pivotBworld, constraintNormalLin, pivotAworld, pivotBworld,