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-rw-r--r--extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp325
1 files changed, 169 insertions, 156 deletions
diff --git a/extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp b/extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp
index 12997d2e374..1ba5861145b 100644
--- a/extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp
+++ b/extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp
@@ -1,32 +1,30 @@
#include "btMultiBodyConstraint.h"
#include "BulletDynamics/Dynamics/btRigidBody.h"
-#include "btMultiBodyPoint2Point.h" //for testing (BTMBP2PCONSTRAINT_BLOCK_ANGULAR_MOTION_TEST macro)
-
-
-
-btMultiBodyConstraint::btMultiBodyConstraint(btMultiBody* bodyA,btMultiBody* bodyB,int linkA, int linkB, int numRows, bool isUnilateral)
- :m_bodyA(bodyA),
- m_bodyB(bodyB),
- m_linkA(linkA),
- m_linkB(linkB),
- m_numRows(numRows),
- m_jacSizeA(0),
- m_jacSizeBoth(0),
- m_isUnilateral(isUnilateral),
- m_numDofsFinalized(-1),
- m_maxAppliedImpulse(100)
+#include "btMultiBodyPoint2Point.h" //for testing (BTMBP2PCONSTRAINT_BLOCK_ANGULAR_MOTION_TEST macro)
+
+btMultiBodyConstraint::btMultiBodyConstraint(btMultiBody* bodyA, btMultiBody* bodyB, int linkA, int linkB, int numRows, bool isUnilateral, int type)
+ : m_bodyA(bodyA),
+ m_bodyB(bodyB),
+ m_linkA(linkA),
+ m_linkB(linkB),
+ m_type(type),
+ m_numRows(numRows),
+ m_jacSizeA(0),
+ m_jacSizeBoth(0),
+ m_isUnilateral(isUnilateral),
+ m_numDofsFinalized(-1),
+ m_maxAppliedImpulse(100)
{
-
}
void btMultiBodyConstraint::updateJacobianSizes()
{
- if(m_bodyA)
+ if (m_bodyA)
{
m_jacSizeA = (6 + m_bodyA->getNumDofs());
}
- if(m_bodyB)
+ if (m_bodyB)
{
m_jacSizeBoth = m_jacSizeA + 6 + m_bodyB->getNumDofs();
}
@@ -38,7 +36,7 @@ void btMultiBodyConstraint::allocateJacobiansMultiDof()
{
updateJacobianSizes();
- m_posOffset = ((1 + m_jacSizeBoth)*m_numRows);
+ m_posOffset = ((1 + m_jacSizeBoth) * m_numRows);
m_data.resize((2 + m_jacSizeBoth) * m_numRows);
}
@@ -46,25 +44,25 @@ btMultiBodyConstraint::~btMultiBodyConstraint()
{
}
-void btMultiBodyConstraint::applyDeltaVee(btMultiBodyJacobianData& data, btScalar* delta_vee, btScalar impulse, int velocityIndex, int ndof)
+void btMultiBodyConstraint::applyDeltaVee(btMultiBodyJacobianData& data, btScalar* delta_vee, btScalar impulse, int velocityIndex, int ndof)
{
for (int i = 0; i < ndof; ++i)
- data.m_deltaVelocities[velocityIndex+i] += delta_vee[i] * impulse;
+ data.m_deltaVelocities[velocityIndex + i] += delta_vee[i] * impulse;
}
-btScalar btMultiBodyConstraint::fillMultiBodyConstraint( btMultiBodySolverConstraint& solverConstraint,
- btMultiBodyJacobianData& data,
- btScalar* jacOrgA, btScalar* jacOrgB,
- const btVector3& contactNormalOnB,
- const btVector3& posAworld, const btVector3& posBworld,
- btScalar posError,
- const btContactSolverInfo& infoGlobal,
- btScalar lowerLimit, btScalar upperLimit,
- btScalar relaxation,
- bool isFriction, btScalar desiredVelocity, btScalar cfmSlip)
+btScalar btMultiBodyConstraint::fillMultiBodyConstraint(btMultiBodySolverConstraint& solverConstraint,
+ btMultiBodyJacobianData& data,
+ btScalar* jacOrgA, btScalar* jacOrgB,
+ const btVector3& constraintNormalAng,
+ const btVector3& constraintNormalLin,
+ const btVector3& posAworld, const btVector3& posBworld,
+ btScalar posError,
+ const btContactSolverInfo& infoGlobal,
+ btScalar lowerLimit, btScalar upperLimit,
+ bool angConstraint,
+ btScalar relaxation,
+ bool isFriction, btScalar desiredVelocity, btScalar cfmSlip)
{
-
-
solverConstraint.m_multiBodyA = m_bodyA;
solverConstraint.m_multiBodyB = m_bodyB;
solverConstraint.m_linkA = m_linkA;
@@ -79,7 +77,7 @@ btScalar btMultiBodyConstraint::fillMultiBodyConstraint( btMultiBodySolverConstr
btRigidBody* rb0 = multiBodyA ? 0 : bodyA->m_originalBody;
btRigidBody* rb1 = multiBodyB ? 0 : bodyB->m_originalBody;
- btVector3 rel_pos1, rel_pos2; //these two used to be inited to posAworld and posBworld (respectively) but it does not seem necessary
+ btVector3 rel_pos1, rel_pos2; //these two used to be inited to posAworld and posBworld (respectively) but it does not seem necessary
if (bodyA)
rel_pos1 = posAworld - bodyA->getWorldTransform().getOrigin();
if (bodyB)
@@ -87,121 +85,156 @@ btScalar btMultiBodyConstraint::fillMultiBodyConstraint( btMultiBodySolverConstr
if (multiBodyA)
{
- if (solverConstraint.m_linkA<0)
+ if (solverConstraint.m_linkA < 0)
{
rel_pos1 = posAworld - multiBodyA->getBasePos();
- } else
+ }
+ else
{
rel_pos1 = posAworld - multiBodyA->getLink(solverConstraint.m_linkA).m_cachedWorldTransform.getOrigin();
}
- const int ndofA = multiBodyA->getNumDofs() + 6;
+ const int ndofA = multiBodyA->getNumDofs() + 6;
solverConstraint.m_deltaVelAindex = multiBodyA->getCompanionId();
- if (solverConstraint.m_deltaVelAindex <0)
+ if (solverConstraint.m_deltaVelAindex < 0)
{
solverConstraint.m_deltaVelAindex = data.m_deltaVelocities.size();
multiBodyA->setCompanionId(solverConstraint.m_deltaVelAindex);
- data.m_deltaVelocities.resize(data.m_deltaVelocities.size()+ndofA);
- } else
+ data.m_deltaVelocities.resize(data.m_deltaVelocities.size() + ndofA);
+ }
+ else
{
- btAssert(data.m_deltaVelocities.size() >= solverConstraint.m_deltaVelAindex+ndofA);
+ btAssert(data.m_deltaVelocities.size() >= solverConstraint.m_deltaVelAindex + ndofA);
}
//determine jacobian of this 1D constraint in terms of multibodyA's degrees of freedom
//resize..
solverConstraint.m_jacAindex = data.m_jacobians.size();
- data.m_jacobians.resize(data.m_jacobians.size()+ndofA);
+ data.m_jacobians.resize(data.m_jacobians.size() + ndofA);
//copy/determine
- if(jacOrgA)
+ if (jacOrgA)
{
- for (int i=0;i<ndofA;i++)
- data.m_jacobians[solverConstraint.m_jacAindex+i] = jacOrgA[i];
+ for (int i = 0; i < ndofA; i++)
+ data.m_jacobians[solverConstraint.m_jacAindex + i] = jacOrgA[i];
}
else
{
- btScalar* jac1=&data.m_jacobians[solverConstraint.m_jacAindex];
- multiBodyA->fillContactJacobianMultiDof(solverConstraint.m_linkA, posAworld, contactNormalOnB, jac1, data.scratch_r, data.scratch_v, data.scratch_m);
+ btScalar* jac1 = &data.m_jacobians[solverConstraint.m_jacAindex];
+ //multiBodyA->fillContactJacobianMultiDof(solverConstraint.m_linkA, posAworld, constraintNormalLin, jac1, data.scratch_r, data.scratch_v, data.scratch_m);
+ multiBodyA->fillConstraintJacobianMultiDof(solverConstraint.m_linkA, posAworld, constraintNormalAng, constraintNormalLin, jac1, data.scratch_r, data.scratch_v, data.scratch_m);
}
//determine the velocity response of multibodyA to reaction impulses of this constraint (i.e. A[i,i] for i=1,...n_con: multibody's inverse inertia with respect to this 1D constraint)
//resize..
- data.m_deltaVelocitiesUnitImpulse.resize(data.m_deltaVelocitiesUnitImpulse.size()+ndofA); //=> each constraint row has the constrained tree dofs allocated in m_deltaVelocitiesUnitImpulse
+ data.m_deltaVelocitiesUnitImpulse.resize(data.m_deltaVelocitiesUnitImpulse.size() + ndofA); //=> each constraint row has the constrained tree dofs allocated in m_deltaVelocitiesUnitImpulse
btAssert(data.m_jacobians.size() == data.m_deltaVelocitiesUnitImpulse.size());
btScalar* delta = &data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex];
//determine..
- multiBodyA->calcAccelerationDeltasMultiDof(&data.m_jacobians[solverConstraint.m_jacAindex],delta,data.scratch_r, data.scratch_v);
+ multiBodyA->calcAccelerationDeltasMultiDof(&data.m_jacobians[solverConstraint.m_jacAindex], delta, data.scratch_r, data.scratch_v);
- btVector3 torqueAxis0 = rel_pos1.cross(contactNormalOnB);
+ btVector3 torqueAxis0;
+ if (angConstraint)
+ {
+ torqueAxis0 = constraintNormalAng;
+ }
+ else
+ {
+ torqueAxis0 = rel_pos1.cross(constraintNormalLin);
+ }
solverConstraint.m_relpos1CrossNormal = torqueAxis0;
- solverConstraint.m_contactNormal1 = contactNormalOnB;
+ solverConstraint.m_contactNormal1 = constraintNormalLin;
}
- else //if(rb0)
+ else //if(rb0)
{
- btVector3 torqueAxis0 = rel_pos1.cross(contactNormalOnB);
- solverConstraint.m_angularComponentA = rb0 ? rb0->getInvInertiaTensorWorld()*torqueAxis0*rb0->getAngularFactor() : btVector3(0,0,0);
+ btVector3 torqueAxis0;
+ if (angConstraint)
+ {
+ torqueAxis0 = constraintNormalAng;
+ }
+ else
+ {
+ torqueAxis0 = rel_pos1.cross(constraintNormalLin);
+ }
+ solverConstraint.m_angularComponentA = rb0 ? rb0->getInvInertiaTensorWorld() * torqueAxis0 * rb0->getAngularFactor() : btVector3(0, 0, 0);
solverConstraint.m_relpos1CrossNormal = torqueAxis0;
- solverConstraint.m_contactNormal1 = contactNormalOnB;
+ solverConstraint.m_contactNormal1 = constraintNormalLin;
}
if (multiBodyB)
{
- if (solverConstraint.m_linkB<0)
+ if (solverConstraint.m_linkB < 0)
{
rel_pos2 = posBworld - multiBodyB->getBasePos();
- } else
+ }
+ else
{
rel_pos2 = posBworld - multiBodyB->getLink(solverConstraint.m_linkB).m_cachedWorldTransform.getOrigin();
}
- const int ndofB = multiBodyB->getNumDofs() + 6;
+ const int ndofB = multiBodyB->getNumDofs() + 6;
solverConstraint.m_deltaVelBindex = multiBodyB->getCompanionId();
- if (solverConstraint.m_deltaVelBindex <0)
+ if (solverConstraint.m_deltaVelBindex < 0)
{
solverConstraint.m_deltaVelBindex = data.m_deltaVelocities.size();
multiBodyB->setCompanionId(solverConstraint.m_deltaVelBindex);
- data.m_deltaVelocities.resize(data.m_deltaVelocities.size()+ndofB);
+ data.m_deltaVelocities.resize(data.m_deltaVelocities.size() + ndofB);
}
//determine jacobian of this 1D constraint in terms of multibodyB's degrees of freedom
//resize..
solverConstraint.m_jacBindex = data.m_jacobians.size();
- data.m_jacobians.resize(data.m_jacobians.size()+ndofB);
+ data.m_jacobians.resize(data.m_jacobians.size() + ndofB);
//copy/determine..
- if(jacOrgB)
+ if (jacOrgB)
{
- for (int i=0;i<ndofB;i++)
- data.m_jacobians[solverConstraint.m_jacBindex+i] = jacOrgB[i];
+ for (int i = 0; i < ndofB; i++)
+ data.m_jacobians[solverConstraint.m_jacBindex + i] = jacOrgB[i];
}
else
{
- multiBodyB->fillContactJacobianMultiDof(solverConstraint.m_linkB, posBworld, -contactNormalOnB, &data.m_jacobians[solverConstraint.m_jacBindex], data.scratch_r, data.scratch_v, data.scratch_m);
+ //multiBodyB->fillContactJacobianMultiDof(solverConstraint.m_linkB, posBworld, -constraintNormalLin, &data.m_jacobians[solverConstraint.m_jacBindex], data.scratch_r, data.scratch_v, data.scratch_m);
+ multiBodyB->fillConstraintJacobianMultiDof(solverConstraint.m_linkB, posBworld, -constraintNormalAng, -constraintNormalLin, &data.m_jacobians[solverConstraint.m_jacBindex], data.scratch_r, data.scratch_v, data.scratch_m);
}
//determine velocity response of multibodyB to reaction impulses of this constraint (i.e. A[i,i] for i=1,...n_con: multibody's inverse inertia with respect to this 1D constraint)
//resize..
- data.m_deltaVelocitiesUnitImpulse.resize(data.m_deltaVelocitiesUnitImpulse.size()+ndofB);
+ data.m_deltaVelocitiesUnitImpulse.resize(data.m_deltaVelocitiesUnitImpulse.size() + ndofB);
btAssert(data.m_jacobians.size() == data.m_deltaVelocitiesUnitImpulse.size());
btScalar* delta = &data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex];
//determine..
- multiBodyB->calcAccelerationDeltasMultiDof(&data.m_jacobians[solverConstraint.m_jacBindex],delta,data.scratch_r, data.scratch_v);
+ multiBodyB->calcAccelerationDeltasMultiDof(&data.m_jacobians[solverConstraint.m_jacBindex], delta, data.scratch_r, data.scratch_v);
- btVector3 torqueAxis1 = rel_pos2.cross(contactNormalOnB);
+ btVector3 torqueAxis1;
+ if (angConstraint)
+ {
+ torqueAxis1 = constraintNormalAng;
+ }
+ else
+ {
+ torqueAxis1 = rel_pos2.cross(constraintNormalLin);
+ }
solverConstraint.m_relpos2CrossNormal = -torqueAxis1;
- solverConstraint.m_contactNormal2 = -contactNormalOnB;
-
+ solverConstraint.m_contactNormal2 = -constraintNormalLin;
}
- else //if(rb1)
+ else //if(rb1)
{
- btVector3 torqueAxis1 = rel_pos2.cross(contactNormalOnB);
- solverConstraint.m_angularComponentB = rb1 ? rb1->getInvInertiaTensorWorld()*-torqueAxis1*rb1->getAngularFactor() : btVector3(0,0,0);
+ btVector3 torqueAxis1;
+ if (angConstraint)
+ {
+ torqueAxis1 = constraintNormalAng;
+ }
+ else
+ {
+ torqueAxis1 = rel_pos2.cross(constraintNormalLin);
+ }
+ solverConstraint.m_angularComponentB = rb1 ? rb1->getInvInertiaTensorWorld() * -torqueAxis1 * rb1->getAngularFactor() : btVector3(0, 0, 0);
solverConstraint.m_relpos2CrossNormal = -torqueAxis1;
- solverConstraint.m_contactNormal2 = -contactNormalOnB;
+ solverConstraint.m_contactNormal2 = -constraintNormalLin;
}
{
-
btVector3 vec;
btScalar denom0 = 0.f;
btScalar denom1 = 0.f;
@@ -209,7 +242,7 @@ btScalar btMultiBodyConstraint::fillMultiBodyConstraint( btMultiBodySolverConstr
btScalar* jacA = 0;
btScalar* deltaVelA = 0;
btScalar* deltaVelB = 0;
- int ndofA = 0;
+ int ndofA = 0;
//determine the "effective mass" of the constrained multibodyA with respect to this 1D constraint (i.e. 1/A[i,i])
if (multiBodyA)
{
@@ -218,15 +251,22 @@ btScalar btMultiBodyConstraint::fillMultiBodyConstraint( btMultiBodySolverConstr
deltaVelA = &data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex];
for (int i = 0; i < ndofA; ++i)
{
- btScalar j = jacA[i] ;
+ btScalar j = jacA[i];
btScalar l = deltaVelA[i];
- denom0 += j*l;
+ denom0 += j * l;
}
}
- else if(rb0)
+ else if (rb0)
{
- vec = ( solverConstraint.m_angularComponentA).cross(rel_pos1);
- denom0 = rb0->getInvMass() + contactNormalOnB.dot(vec);
+ vec = (solverConstraint.m_angularComponentA).cross(rel_pos1);
+ if (angConstraint)
+ {
+ denom0 = constraintNormalAng.dot(solverConstraint.m_angularComponentA);
+ }
+ else
+ {
+ denom0 = rb0->getInvMass() + constraintNormalLin.dot(vec);
+ }
}
//
if (multiBodyB)
@@ -236,134 +276,108 @@ btScalar btMultiBodyConstraint::fillMultiBodyConstraint( btMultiBodySolverConstr
deltaVelB = &data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex];
for (int i = 0; i < ndofB; ++i)
{
- btScalar j = jacB[i] ;
+ btScalar j = jacB[i];
btScalar l = deltaVelB[i];
- denom1 += j*l;
+ denom1 += j * l;
}
-
}
- else if(rb1)
+ else if (rb1)
{
- vec = ( -solverConstraint.m_angularComponentB).cross(rel_pos2);
- denom1 = rb1->getInvMass() + contactNormalOnB.dot(vec);
+ vec = (-solverConstraint.m_angularComponentB).cross(rel_pos2);
+ if (angConstraint)
+ {
+ denom1 = constraintNormalAng.dot(-solverConstraint.m_angularComponentB);
+ }
+ else
+ {
+ denom1 = rb1->getInvMass() + constraintNormalLin.dot(vec);
+ }
}
//
- btScalar d = denom0+denom1;
- if (d>SIMD_EPSILON)
+ btScalar d = denom0 + denom1;
+ if (d > SIMD_EPSILON)
{
- solverConstraint.m_jacDiagABInv = relaxation/(d);
+ solverConstraint.m_jacDiagABInv = relaxation / (d);
}
else
{
- //disable the constraint row to handle singularity/redundant constraint
- solverConstraint.m_jacDiagABInv = 0.f;
+ //disable the constraint row to handle singularity/redundant constraint
+ solverConstraint.m_jacDiagABInv = 0.f;
}
}
-
//compute rhs and remaining solverConstraint fields
- btScalar penetration = isFriction? 0 : posError+infoGlobal.m_linearSlop;
+ btScalar penetration = isFriction ? 0 : posError;
btScalar rel_vel = 0.f;
- int ndofA = 0;
- int ndofB = 0;
+ int ndofA = 0;
+ int ndofB = 0;
{
- btVector3 vel1,vel2;
+ btVector3 vel1, vel2;
if (multiBodyA)
{
ndofA = multiBodyA->getNumDofs() + 6;
btScalar* jacA = &data.m_jacobians[solverConstraint.m_jacAindex];
- for (int i = 0; i < ndofA ; ++i)
+ for (int i = 0; i < ndofA; ++i)
rel_vel += multiBodyA->getVelocityVector()[i] * jacA[i];
}
- else if(rb0)
+ else if (rb0)
{
- rel_vel += rb0->getVelocityInLocalPoint(rel_pos1).dot(solverConstraint.m_contactNormal1);
+ rel_vel += rb0->getLinearVelocity().dot(solverConstraint.m_contactNormal1);
+ rel_vel += rb0->getAngularVelocity().dot(solverConstraint.m_relpos1CrossNormal);
}
if (multiBodyB)
{
ndofB = multiBodyB->getNumDofs() + 6;
btScalar* jacB = &data.m_jacobians[solverConstraint.m_jacBindex];
- for (int i = 0; i < ndofB ; ++i)
+ for (int i = 0; i < ndofB; ++i)
rel_vel += multiBodyB->getVelocityVector()[i] * jacB[i];
-
}
- else if(rb1)
+ else if (rb1)
{
- rel_vel += rb1->getVelocityInLocalPoint(rel_pos2).dot(solverConstraint.m_contactNormal2);
+ rel_vel += rb1->getLinearVelocity().dot(solverConstraint.m_contactNormal2);
+ rel_vel += rb1->getAngularVelocity().dot(solverConstraint.m_relpos2CrossNormal);
}
- solverConstraint.m_friction = 0.f;//cp.m_combinedFriction;
+ solverConstraint.m_friction = 0.f; //cp.m_combinedFriction;
}
-
- ///warm starting (or zero if disabled)
- /*
- if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING)
- {
- solverConstraint.m_appliedImpulse = isFriction ? 0 : cp.m_appliedImpulse * infoGlobal.m_warmstartingFactor;
-
- if (solverConstraint.m_appliedImpulse)
- {
- if (multiBodyA)
- {
- btScalar impulse = solverConstraint.m_appliedImpulse;
- btScalar* deltaV = &data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex];
- multiBodyA->applyDeltaVee(deltaV,impulse);
- applyDeltaVee(data,deltaV,impulse,solverConstraint.m_deltaVelAindex,ndofA);
- } else
- {
- if (rb0)
- bodyA->internalApplyImpulse(solverConstraint.m_contactNormal1*bodyA->internalGetInvMass()*rb0->getLinearFactor(),solverConstraint.m_angularComponentA,solverConstraint.m_appliedImpulse);
- }
- if (multiBodyB)
- {
- btScalar impulse = solverConstraint.m_appliedImpulse;
- btScalar* deltaV = &data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex];
- multiBodyB->applyDeltaVee(deltaV,impulse);
- applyDeltaVee(data,deltaV,impulse,solverConstraint.m_deltaVelBindex,ndofB);
- } else
- {
- if (rb1)
- bodyB->internalApplyImpulse(-solverConstraint.m_contactNormal2*bodyB->internalGetInvMass()*rb1->getLinearFactor(),-solverConstraint.m_angularComponentB,-(btScalar)solverConstraint.m_appliedImpulse);
- }
- }
- } else
- */
-
solverConstraint.m_appliedImpulse = 0.f;
solverConstraint.m_appliedPushImpulse = 0.f;
{
-
btScalar positionalError = 0.f;
- btScalar velocityError = desiredVelocity - rel_vel;// * damping;
-
+ btScalar velocityError = desiredVelocity - rel_vel; // * damping;
btScalar erp = infoGlobal.m_erp2;
- if (!infoGlobal.m_splitImpulse || (penetration > infoGlobal.m_splitImpulsePenetrationThreshold))
+
+ //split impulse is not implemented yet for btMultiBody*
+ //if (!infoGlobal.m_splitImpulse || (penetration > infoGlobal.m_splitImpulsePenetrationThreshold))
{
erp = infoGlobal.m_erp;
}
- positionalError = -penetration * erp/infoGlobal.m_timeStep;
+ positionalError = -penetration * erp / infoGlobal.m_timeStep;
- btScalar penetrationImpulse = positionalError*solverConstraint.m_jacDiagABInv;
- btScalar velocityImpulse = velocityError *solverConstraint.m_jacDiagABInv;
+ btScalar penetrationImpulse = positionalError * solverConstraint.m_jacDiagABInv;
+ btScalar velocityImpulse = velocityError * solverConstraint.m_jacDiagABInv;
- if (!infoGlobal.m_splitImpulse || (penetration > infoGlobal.m_splitImpulsePenetrationThreshold))
+ //split impulse is not implemented yet for btMultiBody*
+
+ // if (!infoGlobal.m_splitImpulse || (penetration > infoGlobal.m_splitImpulsePenetrationThreshold))
{
//combine position and velocity into rhs
- solverConstraint.m_rhs = penetrationImpulse+velocityImpulse;
+ solverConstraint.m_rhs = penetrationImpulse + velocityImpulse;
solverConstraint.m_rhsPenetration = 0.f;
-
- } else
- {
- //split position and velocity into rhs and m_rhsPenetration
- solverConstraint.m_rhs = velocityImpulse;
- solverConstraint.m_rhsPenetration = penetrationImpulse;
}
+ /*else
+ {
+ //split position and velocity into rhs and m_rhsPenetration
+ solverConstraint.m_rhs = velocityImpulse;
+ solverConstraint.m_rhsPenetration = penetrationImpulse;
+ }
+ */
solverConstraint.m_cfm = 0.f;
solverConstraint.m_lowerLimit = lowerLimit;
@@ -371,5 +385,4 @@ btScalar btMultiBodyConstraint::fillMultiBodyConstraint( btMultiBodySolverConstr
}
return rel_vel;
-
}
generated by cgit v1.2.3 (git 2.25.1) at 2024-07-07 10:43:26 +0300