I have a doorway with a side bar 0.1 x 0.1 meters and about 2 meters tall, and a door inside it. The door is about 0.2 meters smaller than the doorway and next to the side bar, so there is plenty of clearence. I'm using hkpLimitedHingeConstraintData for the hinge creation. I've looked at it in the Havok debug viewer and the door is not interpenetrating any where. There are angle constraints from 0 to 2 radians, so 0 is closed and 2 is way open. It all works about correctly, but for one thing: When you close the door it overshoots the 0 radian position and if closed hard, does not return back to the 0 position, so the door is slightly (maybe .2 meters) opn the wrong way out. How do you do a hard stop for a door, like real doors do? R. Keene Sandswept Studios.
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