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revert the changes to damping of multibody external forces

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This commit is contained in:
Xuchen Han
2019-08-16 13:51:50 -07:00
parent fadf6aa612
commit 076c8b11df
1 changed files with 0 additions and 4 deletions
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4
src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
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@@ -593,14 +593,10 @@ void btMultiBodyDynamicsWorld::solveExternalForces(btContactSolverInfo& solverIn
{ {
if (!bod->isUsingRK4Integration()) if (!bod->isUsingRK4Integration())
{ {
// avoid damping in external forces (e.g. gravity)
const btScalar linearDamp = bod->getLinearDamping();
bod->setLinearDamping(0);
bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(solverInfo.m_timeStep, bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(solverInfo.m_timeStep,
m_scratch_r, m_scratch_v, m_scratch_m,isConstraintPass, m_scratch_r, m_scratch_v, m_scratch_m,isConstraintPass,
getSolverInfo().m_jointFeedbackInWorldSpace, getSolverInfo().m_jointFeedbackInWorldSpace,
getSolverInfo().m_jointFeedbackInJointFrame); getSolverInfo().m_jointFeedbackInJointFrame);
bod->setLinearDamping(linearDamp);
} }
else else
{ {