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added proper clipping of angular limits in generic d6 ConstraintSolver/btGeneric6DofConstraint.cpp

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added trianglebuffer (easier GIMPACT integration)
This commit is contained in:
ejcoumans
2006-11-10 22:56:45 +00:00
parent 56e135874b
commit 438230b95b
3 changed files with 108 additions and 3 deletions
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10
src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
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@@ -309,12 +309,16 @@ void btGeneric6DofConstraint::solveConstraint(btScalar timeStep)
}
//impulse
btScalar impulse = -(tau*rel_pos/timeStep + damping*rel_vel) * jacDiagABInv;
m_accumulatedImpulse[i + 3] += impulse;
btScalar normalImpulse= -(tau*rel_pos/timeStep + damping*rel_vel) * jacDiagABInv;
float oldNormalImpulse = m_accumulatedImpulse[i+3];
float sum = oldNormalImpulse + normalImpulse;
m_accumulatedImpulse[i+3] = sum > hi ? 0.f : sum < lo ? 0.f : sum;
normalImpulse = m_accumulatedImpulse[i+3] - oldNormalImpulse;
// Dirk: Not needed - we could actually project onto Jacobian entry here (same as above)
btVector3 axis = kSign[i] * axisA.cross(axisB);
btVector3 impulse_vector = axis * impulse;
btVector3 impulse_vector = axis * normalImpulse;
m_rbA.applyTorqueImpulse( impulse_vector);
m_rbB.applyTorqueImpulse(-impulse_vector);