diff options
Diffstat (limited to 'extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp')
| -rw-r--r-- | extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp | 9 |
1 files changed, 6 insertions, 3 deletions
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp index 114abce24c7..a0523a8c76b 100644 --- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp @@ -241,15 +241,18 @@ void btHingeConstraint::buildJacobian() m_solveLimit = false; m_accLimitImpulse = btScalar(0.); - if (m_lowerLimit < m_upperLimit) +// if (m_lowerLimit < m_upperLimit) + if (m_lowerLimit <= m_upperLimit) { - if (hingeAngle <= m_lowerLimit*m_limitSoftness) +// if (hingeAngle <= m_lowerLimit*m_limitSoftness) + if (hingeAngle <= m_lowerLimit) { m_correction = (m_lowerLimit - hingeAngle); m_limitSign = 1.0f; m_solveLimit = true; } - else if (hingeAngle >= m_upperLimit*m_limitSoftness) +// else if (hingeAngle >= m_upperLimit*m_limitSoftness) + else if (hingeAngle >= m_upperLimit) { m_correction = m_upperLimit - hingeAngle; m_limitSign = -1.0f; |