Changeset 8393 for code/trunk/src/external/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.cpp
- Timestamp:
- May 3, 2011, 5:07:42 AM (13 years ago)
- File:
-
- 1 edited
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code/trunk/src/external/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.cpp
r8351 r8393 22 22 : btGeneric6DofConstraint(rbA, rbB, frameInA, frameInB, useLinearReferenceFrameA) 23 23 { 24 m_objectType = D6_SPRING_CONSTRAINT_TYPE; 25 24 26 for(int i = 0; i < 6; i++) 25 27 { … … 148 150 149 151 152 void btGeneric6DofSpringConstraint::setAxis(const btVector3& axis1,const btVector3& axis2) 153 { 154 btVector3 zAxis = axis1.normalized(); 155 btVector3 yAxis = axis2.normalized(); 156 btVector3 xAxis = yAxis.cross(zAxis); // we want right coordinate system 157 158 btTransform frameInW; 159 frameInW.setIdentity(); 160 frameInW.getBasis().setValue( xAxis[0], yAxis[0], zAxis[0], 161 xAxis[1], yAxis[1], zAxis[1], 162 xAxis[2], yAxis[2], zAxis[2]); 163 164 // now get constraint frame in local coordinate systems 165 m_frameInA = m_rbA.getCenterOfMassTransform().inverse() * frameInW; 166 m_frameInB = m_rbB.getCenterOfMassTransform().inverse() * frameInW; 167 168 calculateTransforms(); 169 } 150 170 151 171 172
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