diff options
Diffstat (limited to 'modules/bullet/generic_6dof_joint_bullet.cpp')
| -rw-r--r-- | modules/bullet/generic_6dof_joint_bullet.cpp | 12 |
1 files changed, 10 insertions, 2 deletions
diff --git a/modules/bullet/generic_6dof_joint_bullet.cpp b/modules/bullet/generic_6dof_joint_bullet.cpp index 28928bd861..2b17738c31 100644 --- a/modules/bullet/generic_6dof_joint_bullet.cpp +++ b/modules/bullet/generic_6dof_joint_bullet.cpp @@ -38,12 +38,20 @@ Generic6DOFJointBullet::Generic6DOFJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform &frameInA, const Transform &frameInB, bool useLinearReferenceFrameA) : JointBullet() { + Transform scaled_AFrame(frameInA.scaled(rbA->get_body_scale())); + + scaled_AFrame.basis.rotref_posscale_decomposition(scaled_AFrame.basis); + btTransform btFrameA; - G_TO_B(frameInA, btFrameA); + G_TO_B(scaled_AFrame, btFrameA); if (rbB) { + Transform scaled_BFrame(frameInB.scaled(rbB->get_body_scale())); + + scaled_BFrame.basis.rotref_posscale_decomposition(scaled_BFrame.basis); + btTransform btFrameB; - G_TO_B(frameInB, btFrameB); + G_TO_B(scaled_BFrame, btFrameB); sixDOFConstraint = bulletnew(btGeneric6DofConstraint(*rbA->get_bt_rigid_body(), *rbB->get_bt_rigid_body(), btFrameA, btFrameB, useLinearReferenceFrameA)); } else { |