updated rotational-only hinge

2006-11-21 01:38:18 +00:00
parent 4a23f4f438
commit c801569644
1 changed files with 38 additions and 36 deletions
--- a/src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp
+++ b/src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp
@@ -226,6 +226,8 @@ void	btHingeConstraint::solveConstraint(btScalar	timeStep)
 		}
 	}

+	if (!m_angularOnly)
+	{
 		///solve angular part

 		// get axes in world space
@@ -263,7 +265,7 @@ void	btHingeConstraint::solveConstraint(btScalar	timeStep)

 		m_rbA.applyTorqueImpulse(-velrel+angularError);
 		m_rbB.applyTorqueImpulse(velrel-angularError);
-
+	}
 #endif

 }