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Bug in ConeTwist constraint with tight limits fixed

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ConeTwist constructor for one-body constraint modified
This commit is contained in:
rponom@gmail.com
2012-11-09 19:22:05 +00:00
parent 595dab2337
commit f35621eb01
1 changed files with 5 additions and 2 deletions
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7
src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp
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@@ -53,6 +53,7 @@ btConeTwistConstraint::btConeTwistConstraint(btRigidBody& rbA,const btTransform&
m_useSolveConstraintObsolete(CONETWIST_USE_OBSOLETE_SOLVER) m_useSolveConstraintObsolete(CONETWIST_USE_OBSOLETE_SOLVER)
{ {
m_rbBFrame = m_rbAFrame; m_rbBFrame = m_rbAFrame;
m_rbBFrame.setOrigin(btVector3(0., 0., 0.));
init(); init();
} }
@@ -725,7 +726,8 @@ void btConeTwistConstraint::calcAngleInfo2(const btTransform& transA, const btTr
{ {
if(m_swingSpan1 < m_fixThresh) if(m_swingSpan1 < m_fixThresh)
{ // hinge around Y axis { // hinge around Y axis
if(!(btFuzzyZero(y))) // if(!(btFuzzyZero(y)))
if((!(btFuzzyZero(x))) || (!(btFuzzyZero(z))))
{ {
m_solveSwingLimit = true; m_solveSwingLimit = true;
if(m_swingSpan2 >= m_fixThresh) if(m_swingSpan2 >= m_fixThresh)
@@ -747,7 +749,8 @@ void btConeTwistConstraint::calcAngleInfo2(const btTransform& transA, const btTr
} }
else else
{ // hinge around Z axis { // hinge around Z axis
if(!btFuzzyZero(z)) // if(!btFuzzyZero(z))
if((!(btFuzzyZero(x))) || (!(btFuzzyZero(y))))
{ {
m_solveSwingLimit = true; m_solveSwingLimit = true;
if(m_swingSpan1 >= m_fixThresh) if(m_swingSpan1 >= m_fixThresh)