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expose maximum applied impulse for btMultiBody, introduced to reduce/avoid 'exploding' simulations

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use btScalar instead of float, to enable double precision build, fix for Issue 744
This commit is contained in:
erwin.coumans@gmail.com
2013-10-06 17:13:08 +00:00
parent 488dd44835
commit 34d975143e
6 changed files with 44 additions and 33 deletions
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26
src/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp
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@@ -62,7 +62,7 @@ btScalar btMultiBodyConstraint::fillConstraintRowMultiBodyMultiBody(btMultiBodyS
for (int i=0;i<ndofA;i++)
data.m_jacobians[constraintRow.m_jacAindex+i] = jacOrgA[i];
float* delta = &data.m_deltaVelocitiesUnitImpulse[constraintRow.m_jacAindex];
btScalar* delta = &data.m_deltaVelocitiesUnitImpulse[constraintRow.m_jacAindex];
multiBodyA->calcAccelerationDeltas(&data.m_jacobians[constraintRow.m_jacAindex],delta,data.scratch_r, data.scratch_v);
}
@@ -105,8 +105,8 @@ btScalar btMultiBodyConstraint::fillConstraintRowMultiBodyMultiBody(btMultiBodyS
lambdaA = &data.m_deltaVelocitiesUnitImpulse[constraintRow.m_jacAindex];
for (int i = 0; i < ndofA; ++i)
{
float j = jacA[i] ;
float l =lambdaA[i];
btScalar j = jacA[i] ;
btScalar l =lambdaA[i];
denom0 += j*l;
}
}
@@ -117,8 +117,8 @@ btScalar btMultiBodyConstraint::fillConstraintRowMultiBodyMultiBody(btMultiBodyS
lambdaB = &data.m_deltaVelocitiesUnitImpulse[constraintRow.m_jacBindex];
for (int i = 0; i < ndofB; ++i)
{
float j = jacB[i] ;
float l =lambdaB[i];
btScalar j = jacB[i] ;
btScalar l =lambdaB[i];
denom1 += j*l;
}
@@ -134,7 +134,7 @@ btScalar btMultiBodyConstraint::fillConstraintRowMultiBodyMultiBody(btMultiBodyS
}
}
float d = denom0+denom1;
btScalar d = denom0+denom1;
if (btFabs(d)>SIMD_EPSILON)
{
@@ -275,9 +275,9 @@ void btMultiBodyConstraint::fillMultiBodyConstraintMixed(btMultiBodySolverConstr
data.m_deltaVelocitiesUnitImpulse.resize(data.m_deltaVelocitiesUnitImpulse.size()+ndofA);
btAssert(data.m_jacobians.size() == data.m_deltaVelocitiesUnitImpulse.size());
float* jac1=&data.m_jacobians[solverConstraint.m_jacAindex];
btScalar* jac1=&data.m_jacobians[solverConstraint.m_jacAindex];
multiBodyA->fillContactJacobian(solverConstraint.m_linkA, posAworld, contactNormalOnB, jac1, data.scratch_r, data.scratch_v, data.scratch_m);
float* delta = &data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex];
btScalar* delta = &data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex];
multiBodyA->calcAccelerationDeltas(&data.m_jacobians[solverConstraint.m_jacAindex],delta,data.scratch_r, data.scratch_v);
} else
{
@@ -332,8 +332,8 @@ void btMultiBodyConstraint::fillMultiBodyConstraintMixed(btMultiBodySolverConstr
lambdaA = &data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex];
for (int i = 0; i < ndofA; ++i)
{
float j = jacA[i] ;
float l =lambdaA[i];
btScalar j = jacA[i] ;
btScalar l =lambdaA[i];
denom0 += j*l;
}
} else
@@ -351,8 +351,8 @@ void btMultiBodyConstraint::fillMultiBodyConstraintMixed(btMultiBodySolverConstr
lambdaB = &data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex];
for (int i = 0; i < ndofB; ++i)
{
float j = jacB[i] ;
float l =lambdaB[i];
btScalar j = jacB[i] ;
btScalar l =lambdaB[i];
denom1 += j*l;
}
@@ -375,7 +375,7 @@ void btMultiBodyConstraint::fillMultiBodyConstraintMixed(btMultiBodySolverConstr
}
}
float d = denom0+denom1;
btScalar d = denom0+denom1;
if (btFabs(d)>SIMD_EPSILON)
{