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Added a possibility for btHingeConstraint to use frame of rigid body A as a reference frame at construction time.

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It is off by default, so the existing code should work as before
This commit is contained in:
rponom
2009-02-10 02:42:54 +00:00
parent 98436a85c3
commit c94cad8cba
2 changed files with 40 additions and 29 deletions
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30
src/BulletDynamics/ConstraintSolver/btHingeConstraint.h
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@@ -54,22 +54,24 @@ public:
btScalar m_accLimitImpulse;
btScalar m_hingeAngle;
btScalar m_referenceSign;
bool m_angularOnly;
bool m_enableAngularMotor;
bool m_solveLimit;
bool m_useSolveConstraintObsolete;
bool m_useSolveConstraintObsolete;
bool m_useReferenceFrameA;
public:
btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB, btVector3& axisInA,btVector3& axisInB);
btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB, btVector3& axisInA,btVector3& axisInB, bool useReferenceFrameA = false);
btHingeConstraint(btRigidBody& rbA,const btVector3& pivotInA,btVector3& axisInA);
btHingeConstraint(btRigidBody& rbA,const btVector3& pivotInA,btVector3& axisInA, bool useReferenceFrameA = false);
btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btTransform& rbAFrame, const btTransform& rbBFrame);
btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btTransform& rbAFrame, const btTransform& rbBFrame, bool useReferenceFrameA = false);
btHingeConstraint(btRigidBody& rbA,const btTransform& rbAFrame);
btHingeConstraint(btRigidBody& rbA,const btTransform& rbAFrame, bool useReferenceFrameA = false);
btHingeConstraint();
@@ -92,16 +94,16 @@ public:
return m_rbB;
}
btRigidBody& getRigidBodyA()
{
return m_rbA;
}
btRigidBody& getRigidBodyB()
{
return m_rbB;
}
btRigidBody& getRigidBodyA()
{
return m_rbA;
}
btRigidBody& getRigidBodyB()
{
return m_rbB;
}
void setAngularOnly(bool angularOnly)
{
m_angularOnly = angularOnly;