diff options
| author | Erwin Coumans <blender@erwincoumans.com> | 2008-09-03 06:27:16 +0400 |
|---|---|---|
| committer | Erwin Coumans <blender@erwincoumans.com> | 2008-09-03 06:27:16 +0400 |
| commit | 1926e846500212d11061c23cacdbd08d88e375da (patch) | |
| tree | ad72fe64632cfc22a4878e065578b66d52de218d /extern/bullet2/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp | |
| parent | 33ac84e888ee3e3217f15f955e1b389a9c4bb230 (diff) | |
Finally upgraded to latest Bullet subversion, about to release 2.71. Some recent changes in extern/bullet2 need to be re-applied, will check with Benoit. Ray tests in 0_FPS_Template.blend is broken, didn't figure out why yet.
HELP BUILD SYSTEM MAINTAINERS: Please help with updating all build systems: the newly added files need to be added. Note that the src/SoftBody has been added for future extension of real-time soft bodies.
Diffstat (limited to 'extern/bullet2/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp')
| -rw-r--r-- | extern/bullet2/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp | 15 |
1 files changed, 13 insertions, 2 deletions
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp index aacb0a3ea66..2b69ad90438 100644 --- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp @@ -21,18 +21,19 @@ subject to the following restrictions: btPoint2PointConstraint::btPoint2PointConstraint() +:btTypedConstraint(POINT2POINT_CONSTRAINT_TYPE) { } btPoint2PointConstraint::btPoint2PointConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB) -:btTypedConstraint(rbA,rbB),m_pivotInA(pivotInA),m_pivotInB(pivotInB) +:btTypedConstraint(POINT2POINT_CONSTRAINT_TYPE,rbA,rbB),m_pivotInA(pivotInA),m_pivotInB(pivotInB) { } btPoint2PointConstraint::btPoint2PointConstraint(btRigidBody& rbA,const btVector3& pivotInA) -:btTypedConstraint(rbA),m_pivotInA(pivotInA),m_pivotInB(rbA.getCenterOfMassTransform()(pivotInA)) +:btTypedConstraint(POINT2POINT_CONSTRAINT_TYPE,rbA),m_pivotInA(pivotInA),m_pivotInB(rbA.getCenterOfMassTransform()(pivotInA)) { } @@ -99,6 +100,16 @@ void btPoint2PointConstraint::solveConstraint(btScalar timeStep) btScalar depth = -(pivotAInW - pivotBInW).dot(normal); //this is the error projected on the normal btScalar impulse = depth*m_setting.m_tau/timeStep * jacDiagABInv - m_setting.m_damping * rel_vel * jacDiagABInv; + + btScalar impulseClamp = m_setting.m_impulseClamp; + if (impulseClamp > 0) + { + if (impulse < -impulseClamp) + impulse = -impulseClamp; + if (impulse > impulseClamp) + impulse = impulseClamp; + } + m_appliedImpulse+=impulse; btVector3 impulse_vector = normal * impulse; m_rbA.applyImpulse(impulse_vector, pivotAInW - m_rbA.getCenterOfMassPosition()); |