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Bug in Generic 6DOF joint fixed

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Debug visualization of joint constraints was added
This commit is contained in:
rponom
2009-01-16 03:04:07 +00:00
parent bdf78e0735
commit e7ca0e6a9c
5 changed files with 245 additions and 40 deletions
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2
src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp
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@@ -307,6 +307,7 @@ void btConeTwistConstraint::buildJacobian()
btQuaternion rotationArc = shortestArcQuat(b2Axis1,b1Axis1);
btVector3 TwistRef = quatRotate(rotationArc,b2Axis2);
btScalar twist = btAtan2Fast( TwistRef.dot(b1Axis3), TwistRef.dot(b1Axis2) );
m_twistAngle = twist;
btScalar lockedFreeFactor = (m_twistSpan > btScalar(0.05f)) ? m_limitSoftness : btScalar(0.);
if (twist <= -m_twistSpan*lockedFreeFactor)
@@ -502,6 +503,7 @@ void btConeTwistConstraint::calcAngleInfo()
btQuaternion rotationArc = shortestArcQuat(b2Axis1,b1Axis1);
btVector3 TwistRef = quatRotate(rotationArc,b2Axis2);
btScalar twist = btAtan2Fast( TwistRef.dot(b1Axis3), TwistRef.dot(b1Axis2) );
m_twistAngle = twist;
// btScalar lockedFreeFactor = (m_twistSpan > btScalar(0.05f)) ? m_limitSoftness : btScalar(0.);
btScalar lockedFreeFactor = (m_twistSpan > btScalar(0.05f)) ? btScalar(1.0f) : btScalar(0.);