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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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4
BulletDynamics/ConstraintSolver/Point2PointConstraint.cpp
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@@ -40,6 +40,8 @@ Point2PointConstraint::Point2PointConstraint(RigidBody& rbA,const SimdVector3& p
void Point2PointConstraint::BuildJacobian()
{
m_appliedImpulse = 0.f;
SimdVector3 normal(0,0,0);
for (int i=0;i<3;i++)
@@ -98,7 +100,7 @@ void Point2PointConstraint::SolveConstraint(SimdScalar timeStep)
SimdScalar depth = -(pivotAInW - pivotBInW).dot(normal); //this is the error projected on the normal
SimdScalar impulse = depth*m_setting.m_tau/timeStep * jacDiagABInv - m_setting.m_damping * rel_vel * jacDiagABInv;
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());