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a bug in the btHingeConstraint motor for SIMD solver fixed

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This commit is contained in:
rponom
2009-01-13 20:23:29 +00:00
parent f8c80cc3f6
commit 33fe793bcd
1 changed files with 12 additions and 12 deletions
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24
src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp
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@@ -23,12 +23,15 @@ subject to the following restrictions:
//----------------------------------------------------------------------------- //-----------------------------------------------------------------------------
#define HINGE_USE_OBSOLETE_SOLVER false
//-----------------------------------------------------------------------------
btHingeConstraint::btHingeConstraint() btHingeConstraint::btHingeConstraint()
: btTypedConstraint (HINGE_CONSTRAINT_TYPE), : btTypedConstraint (HINGE_CONSTRAINT_TYPE),
m_enableAngularMotor(false), m_enableAngularMotor(false),
m_useSolveConstraintObsolete(false) m_useSolveConstraintObsolete(HINGE_USE_OBSOLETE_SOLVER)
//m_useSolveConstraintObsolete(true)
{ {
} }
@@ -39,8 +42,7 @@ btHingeConstraint::btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const bt
:btTypedConstraint(HINGE_CONSTRAINT_TYPE, rbA,rbB), :btTypedConstraint(HINGE_CONSTRAINT_TYPE, rbA,rbB),
m_angularOnly(false), m_angularOnly(false),
m_enableAngularMotor(false), m_enableAngularMotor(false),
m_useSolveConstraintObsolete(false) m_useSolveConstraintObsolete(HINGE_USE_OBSOLETE_SOLVER)
// m_useSolveConstraintObsolete(true)
{ {
m_rbAFrame.getOrigin() = pivotInA; m_rbAFrame.getOrigin() = pivotInA;
@@ -87,8 +89,7 @@ btHingeConstraint::btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const bt
btHingeConstraint::btHingeConstraint(btRigidBody& rbA,const btVector3& pivotInA,btVector3& axisInA) btHingeConstraint::btHingeConstraint(btRigidBody& rbA,const btVector3& pivotInA,btVector3& axisInA)
:btTypedConstraint(HINGE_CONSTRAINT_TYPE, rbA), m_angularOnly(false), m_enableAngularMotor(false), :btTypedConstraint(HINGE_CONSTRAINT_TYPE, rbA), m_angularOnly(false), m_enableAngularMotor(false),
m_useSolveConstraintObsolete(false) m_useSolveConstraintObsolete(HINGE_USE_OBSOLETE_SOLVER)
// m_useSolveConstraintObsolete(true)
{ {
// since no frame is given, assume this to be zero angle and just pick rb transform axis // since no frame is given, assume this to be zero angle and just pick rb transform axis
@@ -129,8 +130,7 @@ btHingeConstraint::btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB,
:btTypedConstraint(HINGE_CONSTRAINT_TYPE, rbA,rbB),m_rbAFrame(rbAFrame),m_rbBFrame(rbBFrame), :btTypedConstraint(HINGE_CONSTRAINT_TYPE, rbA,rbB),m_rbAFrame(rbAFrame),m_rbBFrame(rbBFrame),
m_angularOnly(false), m_angularOnly(false),
m_enableAngularMotor(false), m_enableAngularMotor(false),
m_useSolveConstraintObsolete(false) m_useSolveConstraintObsolete(HINGE_USE_OBSOLETE_SOLVER)
//m_useSolveConstraintObsolete(true)
{ {
// flip axis // flip axis
m_rbBFrame.getBasis()[0][2] *= btScalar(-1.); m_rbBFrame.getBasis()[0][2] *= btScalar(-1.);
@@ -152,8 +152,7 @@ btHingeConstraint::btHingeConstraint(btRigidBody& rbA, const btTransform& rbAFra
:btTypedConstraint(HINGE_CONSTRAINT_TYPE, rbA),m_rbAFrame(rbAFrame),m_rbBFrame(rbAFrame), :btTypedConstraint(HINGE_CONSTRAINT_TYPE, rbA),m_rbAFrame(rbAFrame),m_rbBFrame(rbAFrame),
m_angularOnly(false), m_angularOnly(false),
m_enableAngularMotor(false), m_enableAngularMotor(false),
m_useSolveConstraintObsolete(false) m_useSolveConstraintObsolete(HINGE_USE_OBSOLETE_SOLVER)
//m_useSolveConstraintObsolete(true)
{ {
///not providing rigidbody B means implicitly using worldspace for body B ///not providing rigidbody B means implicitly using worldspace for body B
@@ -403,18 +402,19 @@ void btHingeConstraint::getInfo2 (btConstraintInfo2* info)
{ // the joint motor is ineffective { // the joint motor is ineffective
powered = 0; powered = 0;
} }
info->m_constraintError[srow] = btScalar(0.0f);
if(powered) if(powered)
{ {
info->cfm[srow] = btScalar(0.0); info->cfm[srow] = btScalar(0.0);
btScalar mot_fact = getMotorFactor(m_hingeAngle, lostop, histop, m_motorTargetVelocity, info->fps * info->erp); btScalar mot_fact = getMotorFactor(m_hingeAngle, lostop, histop, m_motorTargetVelocity, info->fps * info->erp);
info->m_constraintError[srow] = mot_fact * m_motorTargetVelocity; info->m_constraintError[srow] += mot_fact * m_motorTargetVelocity;
info->m_lowerLimit[srow] = - m_maxMotorImpulse; info->m_lowerLimit[srow] = - m_maxMotorImpulse;
info->m_upperLimit[srow] = m_maxMotorImpulse; info->m_upperLimit[srow] = m_maxMotorImpulse;
} }
if(limit) if(limit)
{ {
k = info->fps * info->erp; k = info->fps * info->erp;
info->m_constraintError[srow] = k * limit_err; info->m_constraintError[srow] += k * limit_err;
info->cfm[srow] = btScalar(0.0); info->cfm[srow] = btScalar(0.0);
if(lostop == histop) if(lostop == histop)
{ {