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fix in the breaking constraints feature

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This commit is contained in:
erwin.coumans
2011-07-01 21:51:38 +00:00
parent 251bb4e727
commit 16cc5665de
1 changed files with 12 additions and 13 deletions
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25
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
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@@ -875,22 +875,21 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
info2.m_numIterations = infoGlobal.m_numIterations; info2.m_numIterations = infoGlobal.m_numIterations;
constraints[i]->getInfo2(&info2); constraints[i]->getInfo2(&info2);
if (currentConstraintRow->m_upperLimit>constraints[i]->getBreakingImpulseThreshold())
{
currentConstraintRow->m_upperLimit = constraints[i]->getBreakingImpulseThreshold();
}
if (currentConstraintRow->m_lowerLimit<-constraints[i]->getBreakingImpulseThreshold())
{
currentConstraintRow->m_lowerLimit = -constraints[i]->getBreakingImpulseThreshold();
}
///finalize the constraint setup ///finalize the constraint setup
for ( j=0;j<info1.m_numConstraintRows;j++) for ( j=0;j<info1.m_numConstraintRows;j++)
{ {
btSolverConstraint& solverConstraint = currentConstraintRow[j]; btSolverConstraint& solverConstraint = currentConstraintRow[j];
if (solverConstraint.m_upperLimit>=constraints[i]->getBreakingImpulseThreshold())
{
solverConstraint.m_upperLimit = constraints[i]->getBreakingImpulseThreshold();
}
if (solverConstraint.m_lowerLimit<=-constraints[i]->getBreakingImpulseThreshold())
{
solverConstraint.m_lowerLimit = -constraints[i]->getBreakingImpulseThreshold();
}
solverConstraint.m_originalContactPoint = constraint; solverConstraint.m_originalContactPoint = constraint;
{ {
@@ -1172,7 +1171,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish(btCo
const btSolverConstraint& solverConstr = m_tmpSolverNonContactConstraintPool[j]; const btSolverConstraint& solverConstr = m_tmpSolverNonContactConstraintPool[j];
btTypedConstraint* constr = (btTypedConstraint*)solverConstr.m_originalContactPoint; btTypedConstraint* constr = (btTypedConstraint*)solverConstr.m_originalContactPoint;
constr->internalSetAppliedImpulse(solverConstr.m_appliedImpulse); constr->internalSetAppliedImpulse(solverConstr.m_appliedImpulse);
if (solverConstr.m_appliedImpulse>constr->getBreakingImpulseThreshold()) if (btFabs(solverConstr.m_appliedImpulse)>=constr->getBreakingImpulseThreshold())
{ {
constr->setEnabled(false); constr->setEnabled(false);
} }