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Fix issue #2000 of oscillating constraints.

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stolk
2018-11-20 10:46:27 -08:00
parent 5e44dd0c1d
commit 5dfcbe9a33
1 changed files with 5 additions and 0 deletions
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5
src/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp
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@@ -860,7 +860,12 @@ int btGeneric6DofSpring2Constraint::get_limit_motor_info2(
// will we not request a velocity with the wrong direction ? // will we not request a velocity with the wrong direction ?
// and the answare is not, because in practice during the solving the current velocity is subtracted from the m_constraintError // and the answare is not, because in practice during the solving the current velocity is subtracted from the m_constraintError
// so the sign of the force that is really matters // so the sign of the force that is really matters
#if 0
info->m_constraintError[srow] = (rotational ? -1 : 1) * (f < 0 ? -SIMD_INFINITY : SIMD_INFINITY); info->m_constraintError[srow] = (rotational ? -1 : 1) * (f < 0 ? -SIMD_INFINITY : SIMD_INFINITY);
#else
// Using infinite constraints makes the damping not work, and oscillate for ever.
info->m_constraintError[srow] = vel + f / m * (rotational ? -1 : 1);
#endif
btScalar minf = f < fd ? f : fd; btScalar minf = f < fd ? f : fd;
btScalar maxf = f < fd ? fd : f; btScalar maxf = f < fd ? fd : f;