btConeTwistConstraint contstructor error

[shil]

Hello Erwin,
I'm found error in btConeTwistConstraint constructor which attach body to the world frame:

Code: Select all

btConeTwistConstraint::btConeTwistConstraint(btRigidBody& rbA,const btTransform& rbAFrame)
											:btTypedConstraint(CONETWIST_CONSTRAINT_TYPE,rbA),m_rbAFrame(rbAFrame),
											 m_angularOnly(false)
{
//	m_rbBFrame = m_rbAFrame; // original code
	m_rbBFrame = m_rbAFrame * rbA.getCenterOfMassTransform(); // my fix