diff options
Diffstat (limited to 'extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp')
| -rw-r--r-- | extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp | 7 |
1 files changed, 6 insertions, 1 deletions
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp index bc371e4062d..755544f0dee 100644 --- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp @@ -638,6 +638,11 @@ void btConeTwistConstraint::calcAngleInfo2(const btTransform& transA, const btTr btTransform trDeltaAB = trB * trPose * trA.inverse(); btQuaternion qDeltaAB = trDeltaAB.getRotation(); btVector3 swingAxis = btVector3(qDeltaAB.x(), qDeltaAB.y(), qDeltaAB.z()); + float swingAxisLen2 = swingAxis.length2(); + if(btFuzzyZero(swingAxisLen2)) + { + return; + } m_swingAxis = swingAxis; m_swingAxis.normalize(); m_swingCorrection = qDeltaAB.getAngle(); @@ -918,7 +923,7 @@ void btConeTwistConstraint::computeTwistLimitInfo(const btQuaternion& qTwist, if (twistAngle > SIMD_PI) // long way around. flip quat and recalculate. { - qMinTwist = operator-(qTwist); + qMinTwist = -(qTwist); twistAngle = qMinTwist.getAngle(); } if (twistAngle < 0) |