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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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17
src/BulletDynamics/ConstraintSolver/btHingeConstraint.h
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@@ -132,7 +132,19 @@ public:
btRigidBody& getRigidBodyB()
{
return m_rbB;
}
}
btTransform & getFrameOffsetA()
{
return m_rbAFrame;
}
btTransform & getFrameOffsetB()
{
return m_rbBFrame;
}
void setFrames(const btTransform & frameA, const btTransform & frameB);
void setAngularOnly(bool angularOnly)
{
@@ -182,8 +194,7 @@ public:
btVector3 rbAxisB1 = quatRotate(rotationArc,rbAxisA1);
btVector3 rbAxisB2 = axisInB.cross(rbAxisB1);
m_rbBFrame.getOrigin() = m_rbA.getCenterOfMassTransform()(pivotInA);
m_rbBFrame.getOrigin() = m_rbB.getCenterOfMassTransform().inverse()(m_rbA.getCenterOfMassTransform()(pivotInA));
m_rbBFrame.getBasis().setValue( rbAxisB1.getX(),rbAxisB2.getX(),axisInB.getX(),
rbAxisB1.getY(),rbAxisB2.getY(),axisInB.getY(),
rbAxisB1.getZ(),rbAxisB2.getZ(),axisInB.getZ() );