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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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6
examples/Constraints/ConstraintDemo.cpp
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@@ -356,7 +356,7 @@ void AllConstraintDemo::initPhysics()
spSlider6Dof->getTranslationalLimitMotor()->m_enableMotor[0] = true; spSlider6Dof->getTranslationalLimitMotor()->m_enableMotor[0] = true;
spSlider6Dof->getTranslationalLimitMotor()->m_targetVelocity[0] = -5.0f; spSlider6Dof->getTranslationalLimitMotor()->m_targetVelocity[0] = -5.0f;
spSlider6Dof->getTranslationalLimitMotor()->m_maxMotorForce[0] = 0.1f; spSlider6Dof->getTranslationalLimitMotor()->m_maxMotorForce[0] = 6.0f;
m_dynamicsWorld->addConstraint(spSlider6Dof); m_dynamicsWorld->addConstraint(spSlider6Dof);
@@ -431,7 +431,7 @@ void AllConstraintDemo::initPhysics()
// pGen6DOF->getTranslationalLimitMotor()->m_enableMotor[0] = true; // pGen6DOF->getTranslationalLimitMotor()->m_enableMotor[0] = true;
// pGen6DOF->getTranslationalLimitMotor()->m_targetVelocity[0] = 5.0f; // pGen6DOF->getTranslationalLimitMotor()->m_targetVelocity[0] = 5.0f;
// pGen6DOF->getTranslationalLimitMotor()->m_maxMotorForce[0] = 0.1f; // pGen6DOF->getTranslationalLimitMotor()->m_maxMotorForce[0] = 6.0f;
// pGen6DOF->setAngularLowerLimit(btVector3(0., SIMD_HALF_PI*0.9, 0.)); // pGen6DOF->setAngularLowerLimit(btVector3(0., SIMD_HALF_PI*0.9, 0.));
@@ -662,7 +662,7 @@ void AllConstraintDemo::initPhysics()
pGen6Dof->getTranslationalLimitMotor()->m_enableMotor[0] = true; pGen6Dof->getTranslationalLimitMotor()->m_enableMotor[0] = true;
pGen6Dof->getTranslationalLimitMotor()->m_targetVelocity[0] = 5.0f; pGen6Dof->getTranslationalLimitMotor()->m_targetVelocity[0] = 5.0f;
pGen6Dof->getTranslationalLimitMotor()->m_maxMotorForce[0] = 0.1f; pGen6Dof->getTranslationalLimitMotor()->m_maxMotorForce[0] = 6.0f;
} }
#endif #endif

8
examples/Constraints/Dof6Spring2Setup.cpp
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@@ -300,11 +300,11 @@ void Dof6Spring2Setup::initPhysics()
#ifdef USE_6DOF2 #ifdef USE_6DOF2
constraint->enableMotor(5,true); constraint->enableMotor(5,true);
constraint->setTargetVelocity(5,3.f); constraint->setTargetVelocity(5,3.f);
constraint->setMaxMotorForce(5,10.f); constraint->setMaxMotorForce(5,600.f);
#else #else
constraint->getRotationalLimitMotor(2)->m_enableMotor = true; constraint->getRotationalLimitMotor(2)->m_enableMotor = true;
constraint->getRotationalLimitMotor(2)->m_targetVelocity = 3.f; constraint->getRotationalLimitMotor(2)->m_targetVelocity = 3.f;
constraint->getRotationalLimitMotor(2)->m_maxMotorForce = 10; constraint->getRotationalLimitMotor(2)->m_maxMotorForce = 600.f;
#endif #endif
constraint->setDbgDrawSize(btScalar(2.f)); constraint->setDbgDrawSize(btScalar(2.f));
m_dynamicsWorld->addConstraint(constraint, true); m_dynamicsWorld->addConstraint(constraint, true);
@@ -335,13 +335,13 @@ void Dof6Spring2Setup::initPhysics()
#ifdef USE_6DOF2 #ifdef USE_6DOF2
constraint->enableMotor(5,true); constraint->enableMotor(5,true);
constraint->setTargetVelocity(5,3.f); constraint->setTargetVelocity(5,3.f);
constraint->setMaxMotorForce(5,10.f); constraint->setMaxMotorForce(5,600.f);
constraint->setServo(5,true); constraint->setServo(5,true);
constraint->setServoTarget(5, M_PI_2); constraint->setServoTarget(5, M_PI_2);
#else #else
constraint->getRotationalLimitMotor(2)->m_enableMotor = true; constraint->getRotationalLimitMotor(2)->m_enableMotor = true;
constraint->getRotationalLimitMotor(2)->m_targetVelocity = 3.f; constraint->getRotationalLimitMotor(2)->m_targetVelocity = 3.f;
constraint->getRotationalLimitMotor(2)->m_maxMotorForce = 10; constraint->getRotationalLimitMotor(2)->m_maxMotorForce = 600.f;
//servo motor is not implemented in 6dofspring constraint //servo motor is not implemented in 6dofspring constraint
#endif #endif
constraint->setDbgDrawSize(btScalar(2.f)); constraint->setDbgDrawSize(btScalar(2.f));

16
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -4939,9 +4939,7 @@ bool PhysicsServerCommandProcessor::processSendDesiredStateCommand(const struct
{ {
con->enableMotor(3+limitAxis,true); con->enableMotor(3+limitAxis,true);
con->setTargetVelocity(3+limitAxis, qdotTarget); con->setTargetVelocity(3+limitAxis, qdotTarget);
//this is max motor force impulse con->setMaxMotorForce(3+limitAxis, torque);
btScalar torqueImpulse = torque*m_data->m_dynamicsWorld->getSolverInfo().m_timeStep;
con->setMaxMotorForce(3+limitAxis,torqueImpulse);
} }
break; break;
} }
@@ -4954,9 +4952,7 @@ bool PhysicsServerCommandProcessor::processSendDesiredStateCommand(const struct
//next one is the maximum velocity to reach target position. //next one is the maximum velocity to reach target position.
//the maximum velocity is limited by maxMotorForce //the maximum velocity is limited by maxMotorForce
con->setTargetVelocity(3+limitAxis, 100); con->setTargetVelocity(3+limitAxis, 100);
//this is max motor force impulse con->setMaxMotorForce(3+limitAxis, torque);
btScalar torqueImpulse = torque*m_data->m_dynamicsWorld->getSolverInfo().m_timeStep;
con->setMaxMotorForce(3+limitAxis,torqueImpulse);
con->enableMotor(3+limitAxis,true); con->enableMotor(3+limitAxis,true);
} }
break; break;
@@ -4992,9 +4988,7 @@ bool PhysicsServerCommandProcessor::processSendDesiredStateCommand(const struct
{ {
con->enableMotor(limitAxis,true); con->enableMotor(limitAxis,true);
con->setTargetVelocity(limitAxis, -qdotTarget); con->setTargetVelocity(limitAxis, -qdotTarget);
//this is max motor force impulse con->setMaxMotorForce(limitAxis, torque);
btScalar torqueImpulse = torque*m_data->m_dynamicsWorld->getSolverInfo().m_timeStep;
con->setMaxMotorForce(limitAxis,torqueImpulse);
break; break;
} }
case CONTROL_MODE_POSITION_VELOCITY_PD: case CONTROL_MODE_POSITION_VELOCITY_PD:
@@ -5004,9 +4998,7 @@ bool PhysicsServerCommandProcessor::processSendDesiredStateCommand(const struct
//next one is the maximum velocity to reach target position. //next one is the maximum velocity to reach target position.
//the maximum velocity is limited by maxMotorForce //the maximum velocity is limited by maxMotorForce
con->setTargetVelocity(limitAxis, 100); con->setTargetVelocity(limitAxis, 100);
//this is max motor force impulse con->setMaxMotorForce(limitAxis, torque);
btScalar torqueImpulse = torque*m_data->m_dynamicsWorld->getSolverInfo().m_timeStep;
con->setMaxMotorForce(limitAxis,torqueImpulse);
con->enableMotor(limitAxis,true); con->enableMotor(limitAxis,true);
break; break;
} }

8
examples/Tutorial/Dof6ConstraintTutorial.cpp
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@@ -313,11 +313,11 @@ void Dof6ConstraintTutorial::initPhysics()
#ifdef USE_6DOF2 #ifdef USE_6DOF2
constraint->enableMotor(5,true); constraint->enableMotor(5,true);
constraint->setTargetVelocity(5,3.f); constraint->setTargetVelocity(5,3.f);
constraint->setMaxMotorForce(5,10.f); constraint->setMaxMotorForce(5,600.f);
#else #else
constraint->getRotationalLimitMotor(2)->m_enableMotor = true; constraint->getRotationalLimitMotor(2)->m_enableMotor = true;
constraint->getRotationalLimitMotor(2)->m_targetVelocity = 3.f; constraint->getRotationalLimitMotor(2)->m_targetVelocity = 3.f;
constraint->getRotationalLimitMotor(2)->m_maxMotorForce = 10; constraint->getRotationalLimitMotor(2)->m_maxMotorForce = 600.f;
#endif #endif
constraint->setDbgDrawSize(btScalar(2.f)); constraint->setDbgDrawSize(btScalar(2.f));
m_dynamicsWorld->addConstraint(constraint, true); m_dynamicsWorld->addConstraint(constraint, true);
@@ -348,13 +348,13 @@ void Dof6ConstraintTutorial::initPhysics()
#ifdef USE_6DOF2 #ifdef USE_6DOF2
constraint->enableMotor(5,true); constraint->enableMotor(5,true);
constraint->setTargetVelocity(5,3.f); constraint->setTargetVelocity(5,3.f);
constraint->setMaxMotorForce(5,10.f); constraint->setMaxMotorForce(5,600.f);
constraint->setServo(5,true); constraint->setServo(5,true);
constraint->setServoTarget(5, M_PI_2); constraint->setServoTarget(5, M_PI_2);
#else #else
constraint->getRotationalLimitMotor(2)->m_enableMotor = true; constraint->getRotationalLimitMotor(2)->m_enableMotor = true;
constraint->getRotationalLimitMotor(2)->m_targetVelocity = 3.f; constraint->getRotationalLimitMotor(2)->m_targetVelocity = 3.f;
constraint->getRotationalLimitMotor(2)->m_maxMotorForce = 10; constraint->getRotationalLimitMotor(2)->m_maxMotorForce = 600.f;
//servo motor is not implemented in 6dofspring constraint //servo motor is not implemented in 6dofspring constraint
#endif #endif
constraint->setDbgDrawSize(btScalar(2.f)); constraint->setDbgDrawSize(btScalar(2.f));

4
src/Bullet3Dynamics/ConstraintSolver/b3Generic6DofConstraint.cpp
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@@ -599,8 +599,8 @@ int b3Generic6DofConstraint::get_limit_motor_info2(
tag_vel, tag_vel,
info->fps * limot->m_stopERP); info->fps * limot->m_stopERP);
info->m_constraintError[srow] += mot_fact * limot->m_targetVelocity; info->m_constraintError[srow] += mot_fact * limot->m_targetVelocity;
info->m_lowerLimit[srow] = -limot->m_maxMotorForce; info->m_lowerLimit[srow] = -limot->m_maxMotorForce / info->fps;
info->m_upperLimit[srow] = limot->m_maxMotorForce; info->m_upperLimit[srow] = limot->m_maxMotorForce / info->fps;
} }
} }
if(limit) if(limit)

2
src/Bullet3Dynamics/ConstraintSolver/b3Generic6DofConstraint.h
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@@ -69,7 +69,7 @@ public:
{ {
m_accumulatedImpulse = 0.f; m_accumulatedImpulse = 0.f;
m_targetVelocity = 0; m_targetVelocity = 0;
m_maxMotorForce = 0.1f; m_maxMotorForce = 6.0f;
m_maxLimitForce = 300.0f; m_maxLimitForce = 300.0f;
m_loLimit = 1.0f; m_loLimit = 1.0f;
m_hiLimit = -1.0f; m_hiLimit = -1.0f;

4
src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
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@@ -855,8 +855,8 @@ int btGeneric6DofConstraint::get_limit_motor_info2(
tag_vel, tag_vel,
info->fps * limot->m_stopERP); info->fps * limot->m_stopERP);
info->m_constraintError[srow] += mot_fact * limot->m_targetVelocity; info->m_constraintError[srow] += mot_fact * limot->m_targetVelocity;
info->m_lowerLimit[srow] = -limot->m_maxMotorForce; info->m_lowerLimit[srow] = -limot->m_maxMotorForce / info->fps;
info->m_upperLimit[srow] = limot->m_maxMotorForce; info->m_upperLimit[srow] = limot->m_maxMotorForce / info->fps;
} }
} }
if(limit) if(limit)

2
src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h
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@@ -77,7 +77,7 @@ public:
{ {
m_accumulatedImpulse = 0.f; m_accumulatedImpulse = 0.f;
m_targetVelocity = 0; m_targetVelocity = 0;
m_maxMotorForce = 0.1f; m_maxMotorForce = 6.0f;
m_maxLimitForce = 300.0f; m_maxLimitForce = 300.0f;
m_loLimit = 1.0f; m_loLimit = 1.0f;
m_hiLimit = -1.0f; m_hiLimit = -1.0f;

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

2
src/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h
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@@ -107,7 +107,7 @@ public:
m_motorCFM = 0.f; m_motorCFM = 0.f;
m_enableMotor = false; m_enableMotor = false;
m_targetVelocity = 0; m_targetVelocity = 0;
m_maxMotorForce = 0.1f; m_maxMotorForce = 6.0f;
m_servoMotor = false; m_servoMotor = false;
m_servoTarget = 0; m_servoTarget = 0;
m_enableSpring = false; m_enableSpring = false;

4
src/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.cpp
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@@ -131,7 +131,7 @@ void btGeneric6DofSpringConstraint::internalUpdateSprings(btConstraintInfo2* inf
btScalar force = delta * m_springStiffness[i]; btScalar force = delta * m_springStiffness[i];
btScalar velFactor = info->fps * m_springDamping[i] / btScalar(info->m_numIterations); btScalar velFactor = info->fps * m_springDamping[i] / btScalar(info->m_numIterations);
m_linearLimits.m_targetVelocity[i] = velFactor * force; 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++) for(i = 0; i < 3; i++)
@@ -146,7 +146,7 @@ void btGeneric6DofSpringConstraint::internalUpdateSprings(btConstraintInfo2* inf
btScalar force = -delta * m_springStiffness[i+3]; btScalar force = -delta * m_springStiffness[i+3];
btScalar velFactor = info->fps * m_springDamping[i+3] / btScalar(info->m_numIterations); btScalar velFactor = info->fps * m_springDamping[i+3] / btScalar(info->m_numIterations);
m_angularLimits[i].m_targetVelocity = velFactor * force; m_angularLimits[i].m_targetVelocity = velFactor * force;
m_angularLimits[i].m_maxMotorForce = btFabs(force) / info->fps; m_angularLimits[i].m_maxMotorForce = btFabs(force);
} }
} }
} }