From 3cc1861221d761b7f0301b9b61de4e1aa18c09f4 Mon Sep 17 00:00:00 2001 From: Sheikh Dawood Abdul Ajees Date: Mon, 20 Nov 2017 11:35:52 -0600 Subject: PhysX 3.4.1, APEX 1.4.1 Release @23131702 --- PhysX_3.4/Source/PhysXExtensions/src/ExtJoint.h | 12 ++++-------- 1 file changed, 4 insertions(+), 8 deletions(-) (limited to 'PhysX_3.4/Source/PhysXExtensions/src/ExtJoint.h') diff --git a/PhysX_3.4/Source/PhysXExtensions/src/ExtJoint.h b/PhysX_3.4/Source/PhysXExtensions/src/ExtJoint.h index 9a8b1d9d..d6428f0f 100644 --- a/PhysX_3.4/Source/PhysXExtensions/src/ExtJoint.h +++ b/PhysX_3.4/Source/PhysXExtensions/src/ExtJoint.h @@ -202,17 +202,13 @@ namespace Ext mPxConstraint->markDirty(); } - PxTransform getBodyPose(const PxRigidActor* actor) const + static PxTransform getGlobalPose(const PxRigidActor* actor) { if(!actor) return PxTransform(PxIdentity); - else if(actor->is()) - return actor->getGlobalPose(); - else - return actor->getGlobalPose() * static_cast(actor)->getCMassLocalPose(); + return actor->getGlobalPose(); } - void getActorVelocity(const PxRigidActor* actor, PxVec3& linear, PxVec3& angular) const { if(!actor || actor->is()) @@ -230,8 +226,8 @@ namespace Ext { PxRigidActor* actor0, * actor1; mPxConstraint->getActors(actor0, actor1); - PxTransform t0 = getBodyPose(actor0) * mLocalPose[0], - t1 = getBodyPose(actor1) * mLocalPose[1]; + const PxTransform t0 = getGlobalPose(actor0) * mLocalPose[0]; + const PxTransform t1 = getGlobalPose(actor1) * mLocalPose[1]; return t0.transformInv(t1); } -- cgit v1.2.3