From bba61c834c09e7e16ab48dff1f05c5f6571a40db Mon Sep 17 00:00:00 2001
From: ejcoumans <ejcoumans@08e121b0-ae19-0410-a57b-3be3395fd4fd>
Date: Sat, 23 Jun 2007 00:54:08 +0000
Subject: [PATCH] applied some reported bugfixes, angular limit issue, limit
 scaled from -2.0 -> -1.0

---
 .../ConstraintSolver/btGeneric6DofConstraint.cpp              | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp b/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
index e31db8e64..747d10d1f 100644
--- a/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
+++ b/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
@@ -288,10 +288,10 @@ void	btGeneric6DofConstraint::solveConstraint(btScalar	timeStep)
 			if (m_lowerLimit[i+3] < m_upperLimit[i+3])
 			{
 				//clamp the values
-				btScalar loLimit =  m_upperLimit[i+3] > -3.1415 ? m_lowerLimit[i+3] : btScalar(-1e30);
+				btScalar loLimit =  m_lowerLimit[i+3] > -3.1415 ? m_lowerLimit[i+3] : btScalar(-1e30);
 				btScalar hiLimit = m_upperLimit[i+3] < 3.1415 ? m_upperLimit[i+3] : btScalar(1e30);
 
-				btScalar projAngle  = btScalar(-2.)*xyz[i];
+				btScalar projAngle  = btScalar(-1.)*xyz[i];
 				
 				if (projAngle < loLimit)
 				{