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fix hinge-constraint constructors to use otherAxis

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This commit is contained in:
Seth Alves 2017-04-15 08:51:08 -07:00
parent db98020974
commit d42970d480
1 changed files with 6 additions and 13 deletions
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19
libraries/physics/src/ObjectConstraintHinge.cpp
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@ -84,31 +84,24 @@ btTypedConstraint* ObjectConstraintHinge::getConstraint() {
return nullptr;
}
bool useReferenceFrameA { false };
if (!otherEntityID.isNull()) {
// This hinge is between two entities... find the other rigid body.
btRigidBody* rigidBodyB = getOtherRigidBody(otherEntityID);
if (!rigidBodyB) {
return nullptr;
}
btTransform rigidBodyAFrame(btQuaternion(0.0f, 0.0f, 0.0f, 1.0f), glmToBullet(pivotInA));
btTransform rigidBodyBFrame(btQuaternion(0.0f, 0.0f, 0.0f, 1.0f), glmToBullet(pivotInB));
constraint = new btHingeConstraint(*rigidBodyA, *rigidBodyB,
rigidBodyAFrame, rigidBodyBFrame,
useReferenceFrameA);
glmToBullet(pivotInA), glmToBullet(pivotInB),
glmToBullet(axisInA), glmToBullet(axisInB),
true); // useReferenceFrameA
} else {
// This hinge is between an entity and the world-frame.
btTransform rigidBodyAFrame(btQuaternion(0.0f, 0.0f, 0.0f, 1.0f), glmToBullet(pivotInA));
constraint = new btHingeConstraint(*rigidBodyA, rigidBodyAFrame, useReferenceFrameA);
constraint = new btHingeConstraint(*rigidBodyA,
glmToBullet(pivotInA), glmToBullet(axisInA),
true); // useReferenceFrameA
}
btVector3 bulletAxisInA = glmToBullet(axisInA);
constraint->setAxis(bulletAxisInA);
constraint->setLimit(low, high, softness, biasFactor, relaxationFactor);
withWriteLock([&]{