diff options
Diffstat (limited to 'extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.cpp')
| -rw-r--r-- | extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.cpp | 15 |
1 files changed, 13 insertions, 2 deletions
diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.cpp b/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.cpp index 93d70de39d8..a4d8e1d77f6 100644 --- a/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.cpp +++ b/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.cpp @@ -44,9 +44,10 @@ void btRigidBody::setupRigidBody(const btRigidBody::btRigidBodyConstructionInfo& m_linearVelocity.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0)); m_angularVelocity.setValue(btScalar(0.),btScalar(0.),btScalar(0.)); - m_angularFactor = btScalar(1.); - m_anisotropicFriction.setValue(1.f,1.f,1.f); + m_angularFactor.setValue(1,1,1); + m_linearFactor.setValue(1,1,1); m_gravity.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0)); + m_gravity_acceleration.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0)); m_totalForce.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0)); m_totalTorque.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0)), m_linearDamping = btScalar(0.); @@ -125,6 +126,7 @@ void btRigidBody::setGravity(const btVector3& acceleration) { m_gravity = acceleration * (btScalar(1.0) / m_inverseMass); } + m_gravity_acceleration = acceleration; } @@ -144,8 +146,17 @@ void btRigidBody::setDamping(btScalar lin_damping, btScalar ang_damping) ///applyDamping damps the velocity, using the given m_linearDamping and m_angularDamping void btRigidBody::applyDamping(btScalar timeStep) { + //On new damping: see discussion/issue report here: http://code.google.com/p/bullet/issues/detail?id=74 + //todo: do some performance comparisons (but other parts of the engine are probably bottleneck anyway + +//#define USE_OLD_DAMPING_METHOD 1 +#ifdef USE_OLD_DAMPING_METHOD m_linearVelocity *= GEN_clamped((btScalar(1.) - timeStep * m_linearDamping), (btScalar)btScalar(0.0), (btScalar)btScalar(1.0)); m_angularVelocity *= GEN_clamped((btScalar(1.) - timeStep * m_angularDamping), (btScalar)btScalar(0.0), (btScalar)btScalar(1.0)); +#else + m_linearVelocity *= btPow(btScalar(1)-m_linearDamping, timeStep); + m_angularVelocity *= btPow(btScalar(1)-m_angularDamping, timeStep); +#endif if (m_additionalDamping) { |