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added basic RaycastVehicle support, and CcdPhysicsEnvironment::getAppliedImpulse(int constraintId), this value is useful as treshold to break constraints.

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This commit is contained in:
ejcoumans
2006-08-29 23:55:32 +00:00
parent e1b85d1969
commit 334ce42650
15 changed files with 1033 additions and 19 deletions
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6
BulletDynamics/ConstraintSolver/HingeConstraint.cpp
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@@ -28,7 +28,7 @@ HingeConstraint::HingeConstraint(RigidBody& rbA,RigidBody& rbB, const SimdVector
SimdVector3& axisInA,SimdVector3& axisInB)
:TypedConstraint(rbA,rbB),m_pivotInA(pivotInA),m_pivotInB(pivotInB),
m_axisInA(axisInA),
m_axisInB(axisInB),
m_axisInB(-axisInB),
m_angularOnly(false)
{
@@ -47,6 +47,8 @@ m_angularOnly(false)
void HingeConstraint::BuildJacobian()
{
m_appliedImpulse = 0.f;
SimdVector3 normal(0,0,0);
if (!m_angularOnly)
@@ -216,7 +218,7 @@ void HingeConstraint::SolveConstraint(SimdScalar timeStep)
//positional error (zeroth order error)
SimdScalar depth = -(pivotAInW - pivotBInW).dot(normal); //this is the error projected on the normal
SimdScalar impulse = depth*tau/timeStep * jacDiagABInv - damping * rel_vel * jacDiagABInv * damping;
m_appliedImpulse += impulse;
SimdVector3 impulse_vector = normal * impulse;
m_rbA.applyImpulse(impulse_vector, pivotAInW - m_rbA.getCenterOfMassPosition());
m_rbB.applyImpulse(-impulse_vector, pivotBInW - m_rbB.getCenterOfMassPosition());