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version update to 2.74

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This commit is contained in:
erwin.coumans
2009-02-06 05:02:33 +00:00
parent 2162f6663d
commit f7092c0767
5 changed files with 13 additions and 13 deletions
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16
src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp
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@@ -291,10 +291,13 @@ void btConeTwistConstraint::solveConstraintObsolete(btSolverBody& bodyA,btSolver
btTransform trBCur = m_rbB.getCenterOfMassTransform();
btVector3 omegaA; bodyA.getAngularVelocity(omegaA);
btVector3 omegaB; bodyB.getAngularVelocity(omegaB);
btTransform trAPred; trAPred.setIdentity(); btTransformUtil::integrateTransform(
trACur, btVector3(0,0,0), omegaA, timeStep, trAPred);
btTransform trBPred; trBPred.setIdentity(); btTransformUtil::integrateTransform(
trBCur, btVector3(0,0,0), omegaB, timeStep, trBPred);
btTransform trAPred; trAPred.setIdentity();
btVector3 zerovec(0,0,0);
btTransformUtil::integrateTransform(
trACur, zerovec, omegaA, timeStep, trAPred);
btTransform trBPred; trBPred.setIdentity();
btTransformUtil::integrateTransform(
trBCur, zerovec, omegaB, timeStep, trBPred);
// compute desired transforms in world
btTransform trPose(m_qTarget);
@@ -304,8 +307,9 @@ void btConeTwistConstraint::solveConstraintObsolete(btSolverBody& bodyA,btSolver
// compute desired omegas in world
btVector3 omegaADes, omegaBDes;
btTransformUtil::calculateVelocity(trACur, trADes, timeStep, btVector3(0,0,0), omegaADes);
btTransformUtil::calculateVelocity(trBCur, trBDes, timeStep, btVector3(0,0,0), omegaBDes);
btTransformUtil::calculateVelocity(trACur, trADes, timeStep, zerovec, omegaADes);
btTransformUtil::calculateVelocity(trBCur, trBDes, timeStep, zerovec, omegaBDes);
// compute delta omegas
btVector3 dOmegaA = omegaADes - omegaA;