diff options
| -rw-r--r-- | src/dynamics/joint/revolute_joint.rs | 4 |
1 files changed, 2 insertions, 2 deletions
diff --git a/src/dynamics/joint/revolute_joint.rs b/src/dynamics/joint/revolute_joint.rs index 4dfed5c..c7f0288 100644 --- a/src/dynamics/joint/revolute_joint.rs +++ b/src/dynamics/joint/revolute_joint.rs @@ -87,9 +87,9 @@ impl RevoluteJoint { #[cfg(feature = "dim3")] if joint_rot1.dot(&joint_rot2) < 0.0 { - -ang_err.i.asin() * 2.0 + -ang_err.i.clamp(-1.0, 1.0).asin() * 2.0 } else { - ang_err.i.asin() * 2.0 + ang_err.i.clamp(-1.0, 1.0).asin() * 2.0 } #[cfg(feature = "dim2")] |