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Updated Box2D to 2.3.2-git.

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This commit is contained in:
Alex Szpakowski
2015-11-30 23:55:50 -04:00
parent 5bdd858487
commit 0474f8167a
12 changed files with 87 additions and 51 deletions
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src/libraries/Box2D/Dynamics/Joints/b2WeldJoint.cpp
+17 -1
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@@ -129,6 +129,12 @@ void b2WeldJoint::InitVelocityConstraints(const b2SolverData& data)
invM += m_gamma;
m_mass.ez.z = invM != 0.0f ? 1.0f / invM : 0.0f;
}
else if (K.ez.z == 0.0f)
{
K.GetInverse22(&m_mass);
m_gamma = 0.0f;
m_bias = 0.0f;
}
else
{
K.GetSymInverse33(&m_mass);
@@ -271,7 +277,17 @@ bool b2WeldJoint::SolvePositionConstraints(const b2SolverData& data)
b2Vec3 C(C1.x, C1.y, C2);
b2Vec3 impulse = -K.Solve33(C);
b2Vec3 impulse;
if (K.ez.z > 0.0f)
{
impulse = -K.Solve33(C);
}
else
{
b2Vec2 impulse2 = -K.Solve22(C1);
impulse.Set(impulse2.x, impulse2.y, 0.0f);
}
b2Vec2 P(impulse.x, impulse.y);
cA -= mA * P;