Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Bug in the sign of linear motor force for btSliderConstraint fixed

Browse Source
This commit is contained in:
rponom
2009-01-09 00:32:06 +00:00
parent bdfd9784ed
commit 682dd3262b
2 changed files with 8 additions and 7 deletions
Download Patch File Download Diff File Expand all files Collapse all files

3
src/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp
View File

@@ -344,7 +344,8 @@ void btSliderConstraint::getInfo2(btConstraintInfo2* info)
info->cfm[nrow] = btScalar(0.0); info->cfm[nrow] = btScalar(0.0);
btScalar tag_vel = getTargetLinMotorVelocity(); btScalar tag_vel = getTargetLinMotorVelocity();
btScalar mot_fact = getMotorFactor(m_linPos, m_lowerLinLimit, m_upperLinLimit, tag_vel, info->fps * info->erp); btScalar mot_fact = getMotorFactor(m_linPos, m_lowerLinLimit, m_upperLinLimit, tag_vel, info->fps * info->erp);
info->m_constraintError[srow] += mot_fact * getTargetLinMotorVelocity(); // info->m_constraintError[srow] += mot_fact * getTargetLinMotorVelocity();
info->m_constraintError[srow] -= signFact * mot_fact * getTargetLinMotorVelocity();
info->m_lowerLimit[srow] += -getMaxLinMotorForce() * info->fps; info->m_lowerLimit[srow] += -getMaxLinMotorForce() * info->fps;
info->m_upperLimit[srow] += getMaxLinMotorForce() * info->fps; info->m_upperLimit[srow] += getMaxLinMotorForce() * info->fps;
} }

12
src/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp
View File

@@ -69,11 +69,11 @@ btScalar btTypedConstraint::getMotorFactor(btScalar pos, btScalar lowLim, btScal
} }
btScalar lim_fact = btScalar(1.0f); btScalar lim_fact = btScalar(1.0f);
btScalar delta_max = vel / timeFact; btScalar delta_max = vel / timeFact;
if(delta_max > btScalar(0.0f)) if(delta_max < btScalar(0.0f))
{ {
if((pos > lowLim) && (pos < (lowLim + delta_max))) if((pos >= lowLim) && (pos < (lowLim - delta_max)))
{ {
lim_fact = (pos - lowLim) / delta_max; lim_fact = (lowLim - pos) / delta_max;
} }
else if(pos < lowLim) else if(pos < lowLim)
{ {
@@ -84,11 +84,11 @@ btScalar btTypedConstraint::getMotorFactor(btScalar pos, btScalar lowLim, btScal
lim_fact = btScalar(1.0f); lim_fact = btScalar(1.0f);
} }
} }
else if(delta_max < btScalar(0.0f)) else if(delta_max > btScalar(0.0f))
{ {
if((pos < uppLim) && (pos > (uppLim + delta_max))) if((pos <= uppLim) && (pos > (uppLim - delta_max)))
{ {
lim_fact = (pos - uppLim) / delta_max; lim_fact = (uppLim - pos) / delta_max;
} }
else if(pos > uppLim) else if(pos > uppLim)
{ {