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dgregorius: minor changes

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dondickied
2006-06-25 14:37:30 +00:00
parent 3cf1fb3646
commit 206c56f2ca
2 changed files with 15 additions and 25 deletions
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29
BulletDynamics/ConstraintSolver/Generic6DofConstraint.cpp
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@@ -32,21 +32,12 @@ Generic6DofConstraint::Generic6DofConstraint(RigidBody& rbA, RigidBody& rbB, con
, m_frameInA(frameInA)
, m_frameInB(frameInB)
{
m_accumulatedLinearImpulse[0] = 0.0f;
m_accumulatedLinearImpulse[1] = 0.0f;
m_accumulatedLinearImpulse[2] = 0.0f;
m_accumulatedAngularImpulse[0] = 0.0f;
m_accumulatedAngularImpulse[1] = 0.0f;
m_accumulatedAngularImpulse[2] = 0.0f;
m_angularLowerLimit[0] = 0.0f;
m_angularLowerLimit[1] = 0.0f;
m_angularLowerLimit[2] = 0.0f;
m_angularUpperLimit[0] = 0.0f;
m_angularUpperLimit[1] = 0.0f;
m_angularUpperLimit[2] = 0.0f;
for (int i=0; i<6;++i)
{
m_lowerLimit[i] = 0.0f;
m_upperLimit[i] = 0.0f;
m_accumulatedImpulse[i] = 0.0f;
}
}
@@ -83,7 +74,7 @@ void Generic6DofConstraint::BuildJacobian()
m_rbB.getInvMass());
// Apply accumulated impulse
SimdVector3 impulse_vector = m_accumulatedLinearImpulse[i] * normal;
SimdVector3 impulse_vector = m_accumulatedImpulse[i] * normal;
m_rbA.applyImpulse( impulse_vector, rel_pos1);
m_rbB.applyImpulse(-impulse_vector, rel_pos2);
@@ -108,7 +99,7 @@ void Generic6DofConstraint::BuildJacobian()
m_rbB.getInvInertiaDiagLocal());
// Apply accumulated impulse
SimdVector3 impulse_vector = m_accumulatedAngularImpulse[i] * axis;
SimdVector3 impulse_vector = m_accumulatedImpulse[i + 3] * axis;
m_rbA.applyTorqueImpulse( impulse_vector);
m_rbB.applyTorqueImpulse(-impulse_vector);
@@ -147,7 +138,7 @@ void Generic6DofConstraint::SolveConstraint(SimdScalar timeStep)
SimdScalar depth = -(pivotAInW - pivotBInW).dot(normal);
SimdScalar impulse = (tau*depth/timeStep - damping*rel_vel) * jacDiagABInv;
m_accumulatedLinearImpulse[i] += impulse;
m_accumulatedImpulse[i] += impulse;
SimdVector3 impulse_vector = normal * impulse;
m_rbA.applyImpulse( impulse_vector, rel_pos1);
@@ -176,7 +167,7 @@ void Generic6DofConstraint::SolveConstraint(SimdScalar timeStep)
//impulse
SimdScalar impulse = -(tau*rel_pos/timeStep + damping*rel_vel) * jacDiagABInv;
m_accumulatedAngularImpulse[i] += impulse;
m_accumulatedImpulse[i + 3] += impulse;
// Dirk: Not needed - we could actually project onto Jacobian entry here (same as above)
SimdVector3 axis = kSign[i] * axisA.cross(axisB);

11
BulletDynamics/ConstraintSolver/Generic6DofConstraint.h
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@@ -36,11 +36,10 @@ class Generic6DofConstraint : public TypedConstraint
SimdTransform m_frameInA; // the constraint space w.r.t body A
SimdTransform m_frameInB; // the constraint space w.r.t body B
SimdScalar m_accumulatedLinearImpulse[3];
SimdScalar m_accumulatedAngularImpulse[3];
SimdScalar m_lowerLimit[6]; // the constraint lower limits
SimdScalar m_upperLimit[6]; // the constraint upper limits
SimdScalar m_angularLowerLimit[3]; // the constraint lower limits
SimdScalar m_angularUpperLimit[3]; // the constraint upper limits
SimdScalar m_accumulatedImpulse[6];
public:
@@ -58,8 +57,8 @@ public:
void SetAngularLimit(int axis, SimdScalar lo, SimdScalar hi)
{
m_angularLowerLimit[axis] = lo;
m_angularUpperLimit[axis] = hi;
m_lowerLimit[axis + 3] = lo;
m_upperLimit[axis + 3] = hi;
}
const RigidBody& GetRigidBodyA() const