diff options
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()); |