diff options
author | Erwin Coumans <blender@erwincoumans.com> | 2006-11-21 04:06:23 +0300 |
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committer | Erwin Coumans <blender@erwincoumans.com> | 2006-11-21 04:06:23 +0300 |
commit | eec5ae7d50b4a4a3aba591265cb2125f96edb14b (patch) | |
tree | 984ba1d313e00fbd902b7691c5c75fca64f109f4 /extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp | |
parent | 46234f90cee9b3967cb6361661ce47b455cbaa57 (diff) |
angular-only hinge updated
Diffstat (limited to 'extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp')
-rw-r--r-- | extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp | 72 |
1 files changed, 37 insertions, 35 deletions
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp index b507e4c7bb8..7a3e9140c8d 100644 --- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp @@ -226,44 +226,46 @@ void btHingeConstraint::solveConstraint(btScalar timeStep) } } - ///solve angular part - - // get axes in world space - btVector3 axisA = getRigidBodyA().getCenterOfMassTransform().getBasis() * m_axisInA; - btVector3 axisB = getRigidBodyB().getCenterOfMassTransform().getBasis() * m_axisInB; - - const btVector3& angVelA = getRigidBodyA().getAngularVelocity(); - const btVector3& angVelB = getRigidBodyB().getAngularVelocity(); - btVector3 angA = angVelA - axisA * axisA.dot(angVelA); - btVector3 angB = angVelB - axisB * axisB.dot(angVelB); - btVector3 velrel = angA-angB; - - //solve angular velocity correction - float relaxation = 1.f; - float len = velrel.length(); - if (len > 0.00001f) - { - btVector3 normal = velrel.normalized(); - float denom = getRigidBodyA().computeAngularImpulseDenominator(normal) + - getRigidBodyB().computeAngularImpulseDenominator(normal); - // scale for mass and relaxation - velrel *= (1.f/denom) * 0.9; - } - - //solve angular positional correction - btVector3 angularError = -axisA.cross(axisB) *(1.f/timeStep); - float len2 = angularError.length(); - if (len2>0.00001f) + if (!m_angularOnly) { - btVector3 normal2 = angularError.normalized(); - float denom2 = getRigidBodyA().computeAngularImpulseDenominator(normal2) + - getRigidBodyB().computeAngularImpulseDenominator(normal2); - angularError *= (1.f/denom2) * relaxation; - } + ///solve angular part + + // get axes in world space + btVector3 axisA = getRigidBodyA().getCenterOfMassTransform().getBasis() * m_axisInA; + btVector3 axisB = getRigidBodyB().getCenterOfMassTransform().getBasis() * m_axisInB; + + const btVector3& angVelA = getRigidBodyA().getAngularVelocity(); + const btVector3& angVelB = getRigidBodyB().getAngularVelocity(); + btVector3 angA = angVelA - axisA * axisA.dot(angVelA); + btVector3 angB = angVelB - axisB * axisB.dot(angVelB); + btVector3 velrel = angA-angB; + + //solve angular velocity correction + float relaxation = 1.f; + float len = velrel.length(); + if (len > 0.00001f) + { + btVector3 normal = velrel.normalized(); + float denom = getRigidBodyA().computeAngularImpulseDenominator(normal) + + getRigidBodyB().computeAngularImpulseDenominator(normal); + // scale for mass and relaxation + velrel *= (1.f/denom) * 0.9; + } - m_rbA.applyTorqueImpulse(-velrel+angularError); - m_rbB.applyTorqueImpulse(velrel-angularError); + //solve angular positional correction + btVector3 angularError = -axisA.cross(axisB) *(1.f/timeStep); + float len2 = angularError.length(); + if (len2>0.00001f) + { + btVector3 normal2 = angularError.normalized(); + float denom2 = getRigidBodyA().computeAngularImpulseDenominator(normal2) + + getRigidBodyB().computeAngularImpulseDenominator(normal2); + angularError *= (1.f/denom2) * relaxation; + } + m_rbA.applyTorqueImpulse(-velrel+angularError); + m_rbB.applyTorqueImpulse(velrel-angularError); + } #endif } |