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pass in const vectors into btUniversalConstraint and normalize the local copy

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Thanks to SkewMatrix for the patch, http://code.google.com/p/bullet/issues/detail?id=571
This commit is contained in:
erwin.coumans
2011-12-14 09:10:12 +00:00
parent 22915b2344
commit dacb24e968
2 changed files with 4 additions and 4 deletions
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6
src/BulletDynamics/ConstraintSolver/btUniversalConstraint.cpp
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@@ -27,7 +27,7 @@ subject to the following restrictions:
// constructor
// anchor, axis1 and axis2 are in world coordinate system
// axis1 must be orthogonal to axis2
btUniversalConstraint::btUniversalConstraint(btRigidBody& rbA, btRigidBody& rbB, btVector3& anchor, btVector3& axis1, btVector3& axis2)
btUniversalConstraint::btUniversalConstraint(btRigidBody& rbA, btRigidBody& rbB, const btVector3& anchor, const btVector3& axis1, const btVector3& axis2)
: btGeneric6DofConstraint(rbA, rbB, btTransform::getIdentity(), btTransform::getIdentity(), true),
m_anchor(anchor),
m_axis1(axis1),
@@ -42,8 +42,8 @@ btUniversalConstraint::btUniversalConstraint(btRigidBody& rbA, btRigidBody& rbB,
// new position of X, allowed limits are (-PI,PI);
// So to simulate ODE Universal joint we should use parent axis as Z, child axis as Y and limit all other DOFs
// Build the frame in world coordinate system first
btVector3 zAxis = axis1.normalize();
btVector3 yAxis = axis2.normalize();
btVector3 zAxis = m_axis1.normalize();
btVector3 yAxis = m_axis2.normalize();
btVector3 xAxis = yAxis.cross(zAxis); // we want right coordinate system
btTransform frameInW;
frameInW.setIdentity();

2
src/BulletDynamics/ConstraintSolver/btUniversalConstraint.h
View File

@@ -41,7 +41,7 @@ public:
// constructor
// anchor, axis1 and axis2 are in world coordinate system
// axis1 must be orthogonal to axis2
btUniversalConstraint(btRigidBody& rbA, btRigidBody& rbB, btVector3& anchor, btVector3& axis1, btVector3& axis2);
btUniversalConstraint(btRigidBody& rbA, btRigidBody& rbB, const btVector3& anchor, const btVector3& axis1, const btVector3& axis2);
// access
const btVector3& getAnchor() { return m_calculatedTransformA.getOrigin(); }
const btVector3& getAnchor2() { return m_calculatedTransformB.getOrigin(); }