diff options
Diffstat (limited to 'thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyGearConstraint.cpp')
| -rw-r--r-- | thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyGearConstraint.cpp | 33 |
1 files changed, 20 insertions, 13 deletions
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyGearConstraint.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyGearConstraint.cpp index 5fdb7007d8..09ddd65cd8 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyGearConstraint.cpp +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyGearConstraint.cpp @@ -45,16 +45,18 @@ btMultiBodyGearConstraint::~btMultiBodyGearConstraint() int btMultiBodyGearConstraint::getIslandIdA() const { - if (m_bodyA) { - btMultiBodyLinkCollider* col = m_bodyA->getBaseCollider(); - if (col) - return col->getIslandTag(); - for (int i=0;i<m_bodyA->getNumLinks();i++) + if (m_linkA < 0) + { + btMultiBodyLinkCollider* col = m_bodyA->getBaseCollider(); + if (col) + return col->getIslandTag(); + } + else { - if (m_bodyA->getLink(i).m_collider) - return m_bodyA->getLink(i).m_collider->getIslandTag(); + if (m_bodyA->getLink(m_linkA).m_collider) + return m_bodyA->getLink(m_linkA).m_collider->getIslandTag(); } } return -1; @@ -64,16 +66,17 @@ int btMultiBodyGearConstraint::getIslandIdB() const { if (m_bodyB) { - btMultiBodyLinkCollider* col = m_bodyB->getBaseCollider(); - if (col) - return col->getIslandTag(); - - for (int i=0;i<m_bodyB->getNumLinks();i++) + if (m_linkB < 0) { - col = m_bodyB->getLink(i).m_collider; + btMultiBodyLinkCollider* col = m_bodyB->getBaseCollider(); if (col) return col->getIslandTag(); } + else + { + if (m_bodyB->getLink(m_linkB).m_collider) + return m_bodyB->getLink(m_linkB).m_collider->getIslandTag(); + } } return -1; } @@ -134,6 +137,10 @@ void btMultiBodyGearConstraint::createConstraintRows(btMultiBodyConstraintArray& if (m_erp!=0) { btScalar currentPositionA = m_bodyA->getJointPosMultiDof(m_linkA)[dof]; + if (m_gearAuxLink >= 0) + { + currentPositionA -= m_bodyA->getJointPosMultiDof(m_gearAuxLink)[dof]; + } btScalar currentPositionB = m_gearRatio*m_bodyA->getJointPosMultiDof(m_linkB)[dof]; btScalar diff = currentPositionB+currentPositionA; btScalar desiredPositionDiff = this->m_relativePositionTarget; |