diff options
Diffstat (limited to 'extern/bullet/BulletDynamics/ConstraintSolver/Point2PointConstraint.cpp')
| -rw-r--r-- | extern/bullet/BulletDynamics/ConstraintSolver/Point2PointConstraint.cpp | 5 |
1 files changed, 2 insertions, 3 deletions
diff --git a/extern/bullet/BulletDynamics/ConstraintSolver/Point2PointConstraint.cpp b/extern/bullet/BulletDynamics/ConstraintSolver/Point2PointConstraint.cpp index 1b5f2d6139e..64b470f4391 100644 --- a/extern/bullet/BulletDynamics/ConstraintSolver/Point2PointConstraint.cpp +++ b/extern/bullet/BulletDynamics/ConstraintSolver/Point2PointConstraint.cpp @@ -67,8 +67,7 @@ void Point2PointConstraint::SolveConstraint(SimdScalar timeStep) SimdVector3 normal(0,0,0); - SimdScalar tau = 0.3f; - SimdScalar damping = 1.f; + // SimdVector3 angvelA = m_rbA.getCenterOfMassTransform().getBasis().transpose() * m_rbA.getAngularVelocity(); // SimdVector3 angvelB = m_rbB.getCenterOfMassTransform().getBasis().transpose() * m_rbB.getAngularVelocity(); @@ -98,7 +97,7 @@ void Point2PointConstraint::SolveConstraint(SimdScalar timeStep) //positional error (zeroth order error) SimdScalar depth = -(pivotAInW - pivotBInW).dot(normal); //this is the error projected on the normal - SimdScalar impulse = depth*tau/timeStep * jacDiagABInv - damping * rel_vel * jacDiagABInv * damping; + SimdScalar impulse = depth*m_setting.m_tau/timeStep * jacDiagABInv - m_setting.m_damping * rel_vel * jacDiagABInv; SimdVector3 impulse_vector = normal * impulse; m_rbA.applyImpulse(impulse_vector, pivotAInW - m_rbA.getCenterOfMassPosition()); |