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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/SphericalJoint.cpp
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@@ -35,7 +35,7 @@ void SphericalJoint::SetLimit(const LimitConeRange& value)
if (_joint)
{
auto joint = static_cast<PxSphericalJoint*>(_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;
@@ -111,7 +111,7 @@ PxJoint* SphericalJoint::CreateJoint(JointData& data)
if (_flags & SphericalJointFlag::Limit)
flags |= PxSphericalJointFlag::eLIMIT_ENABLED;
joint->setSphericalJointFlags(static_cast<PxSphericalJointFlag::Enum>(flags));
PxJointLimitCone limit(Math::Clamp(_limit.YLimitAngle * DegreesToRadians, ZeroTolerance, PI), Math::Clamp(_limit.ZLimitAngle * DegreesToRadians, ZeroTolerance, PI), _limit.ContactDist);
PxJointLimitCone limit(Math::Clamp(_limit.YLimitAngle * DegreesToRadians, ZeroTolerance, PI - ZeroTolerance), Math::Clamp(_limit.ZLimitAngle * DegreesToRadians, ZeroTolerance, PI - ZeroTolerance), _limit.ContactDist);
limit.stiffness = _limit.Spring.Stiffness;
limit.damping = _limit.Spring.Damping;
limit.restitution = _limit.Restitution;