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- CcdPhysicsDemo also uses Generic6DofConstraint (testing with mouse picking).

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- HingeConstraint back to old method by default (comparison)
- FCollada by default in ColladaDemo
This commit is contained in:
ejcoumans
2006-06-14 02:51:47 +00:00
parent 0ce46e150d
commit 3c6993e45e
3 changed files with 40 additions and 33 deletions
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7
BulletDynamics/ConstraintSolver/HingeConstraint.cpp
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@@ -94,7 +94,7 @@ void HingeConstraint::BuildJacobian()
void HingeConstraint::SolveConstraint(SimdScalar timeStep)
{
#define NEW_IMPLEMENTATION
//#define NEW_IMPLEMENTATION
#ifdef NEW_IMPLEMENTATION
SimdScalar tau = 0.3f;
@@ -164,8 +164,9 @@ void HingeConstraint::SolveConstraint(SimdScalar timeStep)
SimdScalar jacDiagABInv0 = 1.f / m_jacAng[0].getDiagonal();
SimdScalar rel_vel0 = m_jacAng[0].getRelativeVelocity(m_rbA.getLinearVelocity(),angvelA,
m_rbB.getLinearVelocity(),angvelB);
float tau1 = tau;//0.f;
SimdScalar impulse0 = (tau * axisB.dot(jointAxis1) / timeStep - damping * rel_vel0) * jacDiagABInv0;
SimdScalar impulse0 = (tau1 * axisB.dot(jointAxis1) / timeStep - damping * rel_vel0) * jacDiagABInv0;
SimdVector3 angular_impulse0 = jointAxis0 * impulse0;
m_rbA.applyTorqueImpulse( angular_impulse0);
@@ -181,7 +182,7 @@ void HingeConstraint::SolveConstraint(SimdScalar timeStep)
SimdScalar rel_vel1 = m_jacAng[1].getRelativeVelocity(m_rbA.getLinearVelocity(),angvelA,
m_rbB.getLinearVelocity(),angvelB);;
SimdScalar impulse1 = -(tau * axisB.dot(jointAxis0) / timeStep + damping * rel_vel1) * jacDiagABInv1;
SimdScalar impulse1 = -(tau1 * axisB.dot(jointAxis0) / timeStep + damping * rel_vel1) * jacDiagABInv1;
SimdVector3 angular_impulse1 = jointAxis1 * impulse1;
m_rbA.applyTorqueImpulse( angular_impulse1);