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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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14
src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp
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@@ -276,9 +276,9 @@ void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySol
m_data.m_deltaVelocitiesUnitImpulse.resize(m_data.m_deltaVelocitiesUnitImpulse.size()+ndofA);
btAssert(m_data.m_jacobians.size() == m_data.m_deltaVelocitiesUnitImpulse.size());
float* jac1=&m_data.m_jacobians[solverConstraint.m_jacAindex];
btScalar* jac1=&m_data.m_jacobians[solverConstraint.m_jacAindex];
multiBodyA->fillContactJacobian(solverConstraint.m_linkA, cp.getPositionWorldOnA(), contactNormal, jac1, m_data.scratch_r, m_data.scratch_v, m_data.scratch_m);
float* delta = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex];
btScalar* delta = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex];
multiBodyA->calcAccelerationDeltas(&m_data.m_jacobians[solverConstraint.m_jacAindex],delta,m_data.scratch_r, m_data.scratch_v);
} else
{
@@ -333,8 +333,8 @@ void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySol
lambdaA = &m_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
@@ -352,8 +352,8 @@ void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySol
lambdaB = &m_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;
}
@@ -376,7 +376,7 @@ void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySol
}
}
float d = denom0+denom1;
btScalar d = denom0+denom1;
if (btFabs(d)>SIMD_EPSILON)
{