diff options
Diffstat (limited to 'modules/bullet/cone_twist_joint_bullet.cpp')
| -rw-r--r-- | modules/bullet/cone_twist_joint_bullet.cpp | 14 |
1 files changed, 12 insertions, 2 deletions
diff --git a/modules/bullet/cone_twist_joint_bullet.cpp b/modules/bullet/cone_twist_joint_bullet.cpp index 7ae5e79645..738835b910 100644 --- a/modules/bullet/cone_twist_joint_bullet.cpp +++ b/modules/bullet/cone_twist_joint_bullet.cpp @@ -37,11 +37,21 @@ ConeTwistJointBullet::ConeTwistJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform &rbAFrame, const Transform &rbBFrame) : JointBullet() { + + Transform scaled_AFrame(rbAFrame.scaled(rbA->get_body_scale())); + scaled_AFrame.basis.rotref_posscale_decomposition(scaled_AFrame.basis); + btTransform btFrameA; - G_TO_B(rbAFrame, btFrameA); + G_TO_B(scaled_AFrame, btFrameA); + if (rbB) { + + Transform scaled_BFrame(rbBFrame.scaled(rbB->get_body_scale())); + scaled_BFrame.basis.rotref_posscale_decomposition(scaled_BFrame.basis); + btTransform btFrameB; - G_TO_B(rbBFrame, btFrameB); + G_TO_B(scaled_BFrame, btFrameB); + coneConstraint = bulletnew(btConeTwistConstraint(*rbA->get_bt_rigid_body(), *rbB->get_bt_rigid_body(), btFrameA, btFrameB)); } else { coneConstraint = bulletnew(btConeTwistConstraint(*rbA->get_bt_rigid_body(), btFrameA)); |