Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

"Motor at limit" jitter fixed for btGeneric6Dof constraint

Browse Source 
This also _should_ fix situation when 6DOF constraint with motor get stuck at limit 
(see forum topic at  http://bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=3598&p=13603&hilit=ode*#p13603 )
This commit is contained in:
rponom
2009-05-27 00:36:02 +00:00
parent c9f3d3f8b6
commit 056659d2af
2 changed files with 14 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h
View File

@@ -54,6 +54,7 @@ public:
//! temp_variables
//!@{
btScalar m_currentLimitError;//! How much is violated this limit
btScalar m_currentPosition; //! current value of angle
int m_currentLimit;//!< 0=free, 1=at lo limit, 2=at hi limit
btScalar m_accumulatedImpulse;
//!@}
@@ -134,6 +135,7 @@ public:
btVector3 m_targetVelocity;//!< target motor velocity
btVector3 m_maxMotorForce;//!< max force on motor
btVector3 m_currentLimitError;//! How much is violated this limit
btVector3 m_currentLinearDiff;//! Current relative offset of constraint frames
int m_currentLimit[3];//!< 0=free, 1=at lower limit, 2=at upper limit
btTranslationalLimitMotor()