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Fix for #1582

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a
2018-03-05 23:05:22 +01:00
parent 6d326a79c8
commit 2348c6ba0a
11 changed files with 28 additions and 36 deletions
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4
src/Bullet3Dynamics/ConstraintSolver/b3Generic6DofConstraint.cpp
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@@ -599,8 +599,8 @@ int b3Generic6DofConstraint::get_limit_motor_info2(
tag_vel,
info->fps * limot->m_stopERP);
info->m_constraintError[srow] += mot_fact * limot->m_targetVelocity;
info->m_lowerLimit[srow] = -limot->m_maxMotorForce;
info->m_upperLimit[srow] = limot->m_maxMotorForce;
info->m_lowerLimit[srow] = -limot->m_maxMotorForce / info->fps;
info->m_upperLimit[srow] = limot->m_maxMotorForce / info->fps;
}
}
if(limit)

2
src/Bullet3Dynamics/ConstraintSolver/b3Generic6DofConstraint.h
View File

@@ -69,7 +69,7 @@ public:
{
m_accumulatedImpulse = 0.f;
m_targetVelocity = 0;
m_maxMotorForce = 0.1f;
m_maxMotorForce = 6.0f;
m_maxLimitForce = 300.0f;
m_loLimit = 1.0f;
m_hiLimit = -1.0f;

4
src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
View File

@@ -855,8 +855,8 @@ int btGeneric6DofConstraint::get_limit_motor_info2(
tag_vel,
info->fps * limot->m_stopERP);
info->m_constraintError[srow] += mot_fact * limot->m_targetVelocity;
info->m_lowerLimit[srow] = -limot->m_maxMotorForce;
info->m_upperLimit[srow] = limot->m_maxMotorForce;
info->m_lowerLimit[srow] = -limot->m_maxMotorForce / info->fps;
info->m_upperLimit[srow] = limot->m_maxMotorForce / info->fps;
}
}
if(limit)

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

@@ -77,7 +77,7 @@ public:
{
m_accumulatedImpulse = 0.f;
m_targetVelocity = 0;
m_maxMotorForce = 0.1f;
m_maxMotorForce = 6.0f;
m_maxLimitForce = 300.0f;
m_loLimit = 1.0f;
m_hiLimit = -1.0f;

8
src/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp
View File

@@ -719,8 +719,8 @@ int btGeneric6DofSpring2Constraint::get_limit_motor_info2(
tag_vel,
info->fps * limot->m_motorERP);
info->m_constraintError[srow] = mot_fact * limot->m_targetVelocity;
info->m_lowerLimit[srow] = -limot->m_maxMotorForce;
info->m_upperLimit[srow] = limot->m_maxMotorForce;
info->m_lowerLimit[srow] = -limot->m_maxMotorForce / info->fps;
info->m_upperLimit[srow] = limot->m_maxMotorForce / info->fps;
info->cfm[srow] = limot->m_motorCFM;
srow += info->rowskip;
++count;
@@ -769,8 +769,8 @@ int btGeneric6DofSpring2Constraint::get_limit_motor_info2(
mot_fact = 0;
}
info->m_constraintError[srow] = mot_fact * targetvelocity * (rotational ? -1 : 1);
info->m_lowerLimit[srow] = -limot->m_maxMotorForce;
info->m_upperLimit[srow] = limot->m_maxMotorForce;
info->m_lowerLimit[srow] = -limot->m_maxMotorForce / info->fps;
info->m_upperLimit[srow] = limot->m_maxMotorForce / info->fps;
info->cfm[srow] = limot->m_motorCFM;
srow += info->rowskip;
++count;

2
src/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h
View File

@@ -107,7 +107,7 @@ public:
m_motorCFM = 0.f;
m_enableMotor = false;
m_targetVelocity = 0;
m_maxMotorForce = 0.1f;
m_maxMotorForce = 6.0f;
m_servoMotor = false;
m_servoTarget = 0;
m_enableSpring = false;

4
src/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.cpp
View File

@@ -131,7 +131,7 @@ void btGeneric6DofSpringConstraint::internalUpdateSprings(btConstraintInfo2* inf
btScalar force = delta * m_springStiffness[i];
btScalar velFactor = info->fps * m_springDamping[i] / btScalar(info->m_numIterations);
m_linearLimits.m_targetVelocity[i] = velFactor * force;
m_linearLimits.m_maxMotorForce[i] = btFabs(force) / info->fps;
m_linearLimits.m_maxMotorForce[i] = btFabs(force);
}
}
for(i = 0; i < 3; i++)
@@ -146,7 +146,7 @@ void btGeneric6DofSpringConstraint::internalUpdateSprings(btConstraintInfo2* inf
btScalar force = -delta * m_springStiffness[i+3];
btScalar velFactor = info->fps * m_springDamping[i+3] / btScalar(info->m_numIterations);
m_angularLimits[i].m_targetVelocity = velFactor * force;
m_angularLimits[i].m_maxMotorForce = btFabs(force) / info->fps;
m_angularLimits[i].m_maxMotorForce = btFabs(force);
}
}
}