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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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8
src/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp
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@@ -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;