diff options
Diffstat (limited to 'extern/bullet2/src/BulletDynamics/ConstraintSolver/btGearConstraint.cpp')
| -rw-r--r-- | extern/bullet2/src/BulletDynamics/ConstraintSolver/btGearConstraint.cpp | 28 |
1 files changed, 13 insertions, 15 deletions
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGearConstraint.cpp b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGearConstraint.cpp index bcd457b6731..7535c52c05f 100644 --- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGearConstraint.cpp +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGearConstraint.cpp @@ -17,38 +17,36 @@ subject to the following restrictions: #include "btGearConstraint.h" -btGearConstraint::btGearConstraint(btRigidBody& rbA, btRigidBody& rbB, const btVector3& axisInA,const btVector3& axisInB, btScalar ratio) -:btTypedConstraint(GEAR_CONSTRAINT_TYPE,rbA,rbB), -m_axisInA(axisInA), -m_axisInB(axisInB), -m_ratio(ratio) +btGearConstraint::btGearConstraint(btRigidBody& rbA, btRigidBody& rbB, const btVector3& axisInA, const btVector3& axisInB, btScalar ratio) + : btTypedConstraint(GEAR_CONSTRAINT_TYPE, rbA, rbB), + m_axisInA(axisInA), + m_axisInB(axisInB), + m_ratio(ratio) { } -btGearConstraint::~btGearConstraint () +btGearConstraint::~btGearConstraint() { } -void btGearConstraint::getInfo1 (btConstraintInfo1* info) +void btGearConstraint::getInfo1(btConstraintInfo1* info) { info->m_numConstraintRows = 1; info->nub = 1; } -void btGearConstraint::getInfo2 (btConstraintInfo2* info) +void btGearConstraint::getInfo2(btConstraintInfo2* info) { btVector3 globalAxisA, globalAxisB; - globalAxisA = m_rbA.getWorldTransform().getBasis()*this->m_axisInA; - globalAxisB = m_rbB.getWorldTransform().getBasis()*this->m_axisInB; + globalAxisA = m_rbA.getWorldTransform().getBasis() * this->m_axisInA; + globalAxisB = m_rbB.getWorldTransform().getBasis() * this->m_axisInB; info->m_J1angularAxis[0] = globalAxisA[0]; info->m_J1angularAxis[1] = globalAxisA[1]; info->m_J1angularAxis[2] = globalAxisA[2]; - info->m_J2angularAxis[0] = m_ratio*globalAxisB[0]; - info->m_J2angularAxis[1] = m_ratio*globalAxisB[1]; - info->m_J2angularAxis[2] = m_ratio*globalAxisB[2]; - + info->m_J2angularAxis[0] = m_ratio * globalAxisB[0]; + info->m_J2angularAxis[1] = m_ratio * globalAxisB[1]; + info->m_J2angularAxis[2] = m_ratio * globalAxisB[2]; } - |