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updated rotational-only hinge

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ejcoumans
2006-11-21 01:38:18 +00:00
parent 4a23f4f438
commit c801569644
1 changed files with 38 additions and 36 deletions
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4
src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp
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@@ -226,6 +226,8 @@ void btHingeConstraint::solveConstraint(btScalar timeStep)
} }
} }
if (!m_angularOnly)
{
///solve angular part ///solve angular part
// get axes in world space // get axes in world space
@@ -263,7 +265,7 @@ void btHingeConstraint::solveConstraint(btScalar timeStep)
m_rbA.applyTorqueImpulse(-velrel+angularError); m_rbA.applyTorqueImpulse(-velrel+angularError);
m_rbB.applyTorqueImpulse(velrel-angularError); m_rbB.applyTorqueImpulse(velrel-angularError);
}
#endif #endif
} }