Changeset 8393 for code/trunk/src/external/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp

Timestamp:

May 3, 2011, 5:07:42 AM (13 years ago)

Author:

rgrieder

Message:

Updated Bullet from v2.77 to v2.78.
(I'm not going to make a branch for that since the update from 2.74 to 2.77 hasn't been tested that much either).

You will HAVE to do a complete RECOMPILE! I tested with MSVC and MinGW and they both threw linker errors at me.

File:

• code/trunk/src/external/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp (modified) (2 diffs)

code/trunk/src/external/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp

@@ -711 +711 @@
         (void)timeStep;
 
+}
+
+
+void btGeneric6DofConstraint::setFrames(const btTransform& frameA, const btTransform& frameB)
+{
+        m_frameInA = frameA;
+        m_frameInB = frameB;
+        buildJacobian();
+        calculateTransforms();
 }
 
@@ -1039 +1048 @@
         return retVal;
 }
+
+ 
+
+void btGeneric6DofConstraint::setAxis(const btVector3& axis1,const btVector3& axis2)
+{
+        btVector3 zAxis = axis1.normalized();
+        btVector3 yAxis = axis2.normalized();
+        btVector3 xAxis = yAxis.cross(zAxis); // we want right coordinate system
+        
+        btTransform frameInW;
+        frameInW.setIdentity();
+        frameInW.getBasis().setValue(   xAxis[0], yAxis[0], zAxis[0],   
+                                        xAxis[1], yAxis[1], zAxis[1],
+                                       xAxis[2], yAxis[2], zAxis[2]);
+        
+        // now get constraint frame in local coordinate systems
+        m_frameInA = m_rbA.getCenterOfMassTransform().inverse() * frameInW;
+        m_frameInB = m_rbB.getCenterOfMassTransform().inverse() * frameInW;
+        
+        calculateTransforms();
+}