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Use cylinder inertia tensor, instead of box, by default.

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See Issue 427

Expose some internal data for constraints,
Thanks to Francois Sugny, see Issue 420
This commit is contained in:
erwin.coumans
2010-11-17 23:55:39 +00:00
parent bc3b920995
commit c49927b4ed
8 changed files with 133 additions and 10 deletions
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8
src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp
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@@ -550,8 +550,12 @@ void btHingeConstraint::getInfo2Internal(btConstraintInfo2* info, const btTransf
}
void btHingeConstraint::setFrames(const btTransform & frameA, const btTransform & frameB)
{
m_rbAFrame = frameA;
m_rbBFrame = frameB;
buildJacobian();
}
void btHingeConstraint::updateRHS(btScalar timeStep)