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internalApplyImpulse already applies the getLinearFactor, fixes Issue 71

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This commit is contained in:
Erwin Coumans
2018-12-22 16:53:52 -08:00
parent 44f8064855
commit 6661b1ac71
1 changed files with 4 additions and 4 deletions
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8
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
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@@ -918,9 +918,9 @@ void btSequentialImpulseConstraintSolver::setupContactConstraint(btSolverConstra
{ {
solverConstraint.m_appliedImpulse = cp.m_appliedImpulse * infoGlobal.m_warmstartingFactor; solverConstraint.m_appliedImpulse = cp.m_appliedImpulse * infoGlobal.m_warmstartingFactor;
if (rb0) if (rb0)
bodyA->internalApplyImpulse(solverConstraint.m_contactNormal1 * bodyA->internalGetInvMass() * rb0->getLinearFactor(), solverConstraint.m_angularComponentA, solverConstraint.m_appliedImpulse); bodyA->internalApplyImpulse(solverConstraint.m_contactNormal1 * bodyA->internalGetInvMass(), solverConstraint.m_angularComponentA, solverConstraint.m_appliedImpulse);
if (rb1) if (rb1)
bodyB->internalApplyImpulse(-solverConstraint.m_contactNormal2 * bodyB->internalGetInvMass() * rb1->getLinearFactor(), -solverConstraint.m_angularComponentB, -(btScalar)solverConstraint.m_appliedImpulse); bodyB->internalApplyImpulse(-solverConstraint.m_contactNormal2 * bodyB->internalGetInvMass() , -solverConstraint.m_angularComponentB, -(btScalar)solverConstraint.m_appliedImpulse);
} }
else else
{ {
@@ -990,9 +990,9 @@ void btSequentialImpulseConstraintSolver::setFrictionConstraintImpulse(btSolverC
{ {
frictionConstraint1.m_appliedImpulse = cp.m_appliedImpulseLateral1 * infoGlobal.m_warmstartingFactor; frictionConstraint1.m_appliedImpulse = cp.m_appliedImpulseLateral1 * infoGlobal.m_warmstartingFactor;
if (rb0) if (rb0)
bodyA->internalApplyImpulse(frictionConstraint1.m_contactNormal1 * rb0->getInvMass() * rb0->getLinearFactor(), frictionConstraint1.m_angularComponentA, frictionConstraint1.m_appliedImpulse); bodyA->internalApplyImpulse(frictionConstraint1.m_contactNormal1 * rb0->getInvMass() , frictionConstraint1.m_angularComponentA, frictionConstraint1.m_appliedImpulse);
if (rb1) if (rb1)
bodyB->internalApplyImpulse(-frictionConstraint1.m_contactNormal2 * rb1->getInvMass() * rb1->getLinearFactor(), -frictionConstraint1.m_angularComponentB, -(btScalar)frictionConstraint1.m_appliedImpulse); bodyB->internalApplyImpulse(-frictionConstraint1.m_contactNormal2 * rb1->getInvMass() , -frictionConstraint1.m_angularComponentB, -(btScalar)frictionConstraint1.m_appliedImpulse);
} }
else else
{ {