diff options
Diffstat (limited to 'extern/bullet2/src/BulletDynamics/ConstraintSolver/btUniversalConstraint.cpp')
| -rw-r--r-- | extern/bullet2/src/BulletDynamics/ConstraintSolver/btUniversalConstraint.cpp | 6 |
1 files changed, 3 insertions, 3 deletions
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btUniversalConstraint.cpp b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btUniversalConstraint.cpp index 40c56e77954..b009f41aec8 100644 --- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btUniversalConstraint.cpp +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btUniversalConstraint.cpp @@ -27,7 +27,7 @@ subject to the following restrictions: // constructor // anchor, axis1 and axis2 are in world coordinate system // axis1 must be orthogonal to axis2 -btUniversalConstraint::btUniversalConstraint(btRigidBody& rbA, btRigidBody& rbB, btVector3& anchor, btVector3& axis1, btVector3& axis2) +btUniversalConstraint::btUniversalConstraint(btRigidBody& rbA, btRigidBody& rbB, const btVector3& anchor, const btVector3& axis1, const btVector3& axis2) : btGeneric6DofConstraint(rbA, rbB, btTransform::getIdentity(), btTransform::getIdentity(), true), m_anchor(anchor), m_axis1(axis1), @@ -42,8 +42,8 @@ btUniversalConstraint::btUniversalConstraint(btRigidBody& rbA, btRigidBody& rbB, // new position of X, allowed limits are (-PI,PI); // So to simulate ODE Universal joint we should use parent axis as Z, child axis as Y and limit all other DOFs // Build the frame in world coordinate system first - btVector3 zAxis = axis1.normalize(); - btVector3 yAxis = axis2.normalize(); + btVector3 zAxis = m_axis1.normalize(); + btVector3 yAxis = m_axis2.normalize(); btVector3 xAxis = yAxis.cross(zAxis); // we want right coordinate system btTransform frameInW; frameInW.setIdentity(); |