What happened to m_J2linearAxis?

[Laurent Coulon]

Hi Erwin,
I am creating some new custom constraints in Bullet and can't help but wonder why m_J2linearAxis is essentially gone from the code base (the pointer still exists but it is always nulled out and the sequential impulse solver doesn't use it).

I understand that the constraint types currently implemented in Bullet do not explicitly need it but not having it makes certain new constraint types impossible to create (a pulley constraint would be a good example of this).

Was it removed for optimization purposes or am I missing something?

[Erwin Coumans]

Hi Laurent,

For all current constraints in Bullet the m_J2linearAxis is always equal to -m_J1linearAxis, so m_J2linearAxis was disabled.

If you have a constraint that requires m_J2linearAxis different, can you contribute it? Then we can enable the m_J2linearAxis by default, it should only be a small change.
Thanks,
Erwin

[Laurent Coulon]

Talk about a late reply. Sorry about that, I just came back from a much longer than anticipated contract.
Thanks for the reply. I'm working on a generic gear/belt constraint. I'll be glad to contribute it when (if) I finish it. This is a spare time project so I make no guarantees.