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fix double precision, and remove alloca

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increase mass of the load, to show benefits of direct MLCP solver
move damping back to original location
This commit is contained in:
erwin.coumans@gmail.com
2013-10-24 18:31:27 +00:00
parent 5ca137cb54
commit 19f999ac08
6 changed files with 88 additions and 83 deletions
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17
Demos/ForkLiftDemo/ForkLiftDemo.cpp
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@@ -27,6 +27,13 @@ subject to the following restrictions:
#include "BulletDynamics/MLCPSolvers/btMLCPSolver.h"
btScalar maxMotorImpulse = 1400.f;
//the sequential impulse solver has difficulties dealing with large mass ratios (differences), between loadMass and the fork parts
btScalar loadMass = 350.f;//
//btScalar loadMass = 10.f;//this should work fine for the SI solver
#ifndef M_PI
#define M_PI 3.14159265358979323846
#endif
@@ -367,7 +374,7 @@ tr.setOrigin(btVector3(0,-3,0));
loadTrans.setIdentity();
m_loadStartPos = btVector3(0.0f, 3.5f, 7.0f);
loadTrans.setOrigin(m_loadStartPos);
m_loadBody = localCreateRigidBody(4, loadTrans, loadCompound);
m_loadBody = localCreateRigidBody(loadMass, loadTrans, loadCompound);
}
@@ -747,14 +754,14 @@ void ForkLiftDemo::specialKeyboard(int key, int x, int y)
{
m_liftHinge->setLimit(-M_PI/16.0f, M_PI/8.0f);
m_liftHinge->enableAngularMotor(true, -0.1, 10.0);
m_liftHinge->enableAngularMotor(true, -0.1, maxMotorImpulse);
break;
}
case GLUT_KEY_RIGHT :
{
m_liftHinge->setLimit(-M_PI/16.0f, M_PI/8.0f);
m_liftHinge->enableAngularMotor(true, 0.1, 10.0);
m_liftHinge->enableAngularMotor(true, 0.1, maxMotorImpulse);
break;
}
case GLUT_KEY_UP :
@@ -762,7 +769,7 @@ void ForkLiftDemo::specialKeyboard(int key, int x, int y)
m_forkSlider->setLowerLinLimit(0.1f);
m_forkSlider->setUpperLinLimit(3.9f);
m_forkSlider->setPoweredLinMotor(true);
m_forkSlider->setMaxLinMotorForce(10.0);
m_forkSlider->setMaxLinMotorForce(maxMotorImpulse);
m_forkSlider->setTargetLinMotorVelocity(1.0);
break;
}
@@ -771,7 +778,7 @@ void ForkLiftDemo::specialKeyboard(int key, int x, int y)
m_forkSlider->setLowerLinLimit(0.1f);
m_forkSlider->setUpperLinLimit(3.9f);
m_forkSlider->setPoweredLinMotor(true);
m_forkSlider->setMaxLinMotorForce(10.0);
m_forkSlider->setMaxLinMotorForce(maxMotorImpulse);
m_forkSlider->setTargetLinMotorVelocity(-1.0);
break;
}