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Implemented constraint damping, as requested in Issue 416

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Thanks Mark for the feedback
This commit is contained in:
erwin.coumans
2010-08-24 21:12:32 +00:00
parent a022c9a555
commit 54c07ddac4
4 changed files with 7 additions and 2 deletions
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3
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
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@@ -852,6 +852,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
btAssert(info2.rowskip*sizeof(btScalar)== sizeof(btSolverConstraint));
info2.m_constraintError = &currentConstraintRow->m_rhs;
currentConstraintRow->m_cfm = infoGlobal.m_globalCfm;
info2.m_damping = infoGlobal.m_damping;
info2.cfm = &currentConstraintRow->m_cfm;
info2.m_lowerLimit = &currentConstraintRow->m_lowerLimit;
info2.m_upperLimit = &currentConstraintRow->m_upperLimit;
@@ -899,7 +900,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
btScalar restitution = 0.f;
btScalar positionalError = solverConstraint.m_rhs;//already filled in by getConstraintInfo2
btScalar velocityError = restitution - rel_vel;// * damping;
btScalar velocityError = restitution - rel_vel * info2.m_damping;
btScalar penetrationImpulse = positionalError*solverConstraint.m_jacDiagABInv;
btScalar velocityImpulse = velocityError *solverConstraint.m_jacDiagABInv;
solverConstraint.m_rhs = penetrationImpulse+velocityImpulse;