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Accumulated impulse cleaning for the 6DOF constraint added

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rponom
2008-03-27 22:31:11 +00:00
parent d775191eff
commit ce0075c96f
1 changed files with 8 additions and 1 deletions
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9
src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
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@@ -379,6 +379,14 @@ bool btGeneric6DofConstraint::testAngularLimitMotor(int axis_index)
void btGeneric6DofConstraint::buildJacobian() void btGeneric6DofConstraint::buildJacobian()
{ {
// Clear accumulated impulses for the next simulation step
m_linearLimits.m_accumulatedImpulse.setValue(btScalar(0.), btScalar(0.), btScalar(0.));
int i;
for(i = 0; i < 3; i++)
{
m_angularLimits[i].m_accumulatedImpulse = btScalar(0.);
}
//calculates transform //calculates transform
calculateTransforms(); calculateTransforms();
@@ -390,7 +398,6 @@ void btGeneric6DofConstraint::buildJacobian()
btVector3 rel_pos2 = pivotBInW - m_rbB.getCenterOfMassPosition(); btVector3 rel_pos2 = pivotBInW - m_rbB.getCenterOfMassPosition();
btVector3 normalWorld; btVector3 normalWorld;
int i;
//linear part //linear part
for (i=0;i<3;i++) for (i=0;i<3;i++)
{ {