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Fix error when using over 180 angle for joint limits

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This commit is contained in:
Wojtek Figat
2021-10-27 12:15:35 +02:00
parent 7862fe9c38
commit 76e284e2ac
2 changed files with 4 additions and 4 deletions
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4
Source/Engine/Physics/Joints/D6Joint.cpp
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@@ -98,7 +98,7 @@ void D6Joint::SetLimitSwing(const LimitConeRange& value)
if (_joint)
{
auto joint = static_cast<PxD6Joint*>(_joint);
PxJointLimitCone limit(Math::Clamp(value.YLimitAngle * DegreesToRadians, ZeroTolerance, PI), Math::Clamp(value.ZLimitAngle * DegreesToRadians, ZeroTolerance, PI), value.ContactDist);
PxJointLimitCone limit(Math::Clamp(value.YLimitAngle * DegreesToRadians, ZeroTolerance, PI - ZeroTolerance), Math::Clamp(value.ZLimitAngle * DegreesToRadians, ZeroTolerance, PI - ZeroTolerance), value.ContactDist);
limit.stiffness = value.Spring.Stiffness;
limit.damping = value.Spring.Damping;
limit.restitution = value.Restitution;
@@ -457,7 +457,7 @@ PxJoint* D6Joint::CreateJoint(JointData& data)
{
const auto& value = _limitSwing;
PxJointLimitCone limit(Math::Clamp(value.YLimitAngle * DegreesToRadians, ZeroTolerance, PI), Math::Clamp(value.ZLimitAngle * DegreesToRadians, ZeroTolerance, PI), value.ContactDist);
PxJointLimitCone limit(Math::Clamp(value.YLimitAngle * DegreesToRadians, ZeroTolerance, PI - ZeroTolerance), Math::Clamp(value.ZLimitAngle * DegreesToRadians, ZeroTolerance, PI -ZeroTolerance), value.ContactDist);
limit.stiffness = value.Spring.Stiffness;
limit.damping = value.Spring.Damping;
limit.restitution = value.Restitution;