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Merge pull request #353 from cameronwhite/fix-conetwist-nans

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Fix a potential division by zero for cone twist constraints.
This commit is contained in:
erwincoumans
2015-04-22 11:44:29 -07:00
parent b8e030f396 445dc667b3
commit e884511924
1 changed files with 4 additions and 2 deletions
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6
src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp
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@@ -778,8 +778,10 @@ void btConeTwistConstraint::calcAngleInfo2(const btTransform& transA, const btTr
target[2] = x * ivA[2] + y * jvA[2] + z * kvA[2]; target[2] = x * ivA[2] + y * jvA[2] + z * kvA[2];
target.normalize(); target.normalize();
m_swingAxis = -ivB.cross(target); m_swingAxis = -ivB.cross(target);
m_swingCorrection = m_swingAxis.length(); m_swingCorrection = m_swingAxis.length();
m_swingAxis.normalize();
if (!btFuzzyZero(m_swingCorrection))
m_swingAxis.normalize();
} }
} }