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move the clearForceAndTorque to after the stepVelocities,

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see also https://github.com/bulletphysics/bullet3/pull/221
todo: create test
This commit is contained in:
Erwin Coumans
2014-08-25 08:48:45 -07:00
parent 2c19a27694
commit 6cbf89905f
1 changed files with 7 additions and 3 deletions
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10
src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
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@@ -455,7 +455,6 @@ void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
scratch_v.resize(bod->getNumLinks()+1); scratch_v.resize(bod->getNumLinks()+1);
scratch_m.resize(bod->getNumLinks()+1); scratch_m.resize(bod->getNumLinks()+1);
bod->clearForcesAndTorques();
bod->addBaseForce(m_gravity * bod->getBaseMass()); bod->addBaseForce(m_gravity * bod->getBaseMass());
for (int j = 0; j < bod->getNumLinks(); ++j) for (int j = 0; j < bod->getNumLinks(); ++j)
@@ -468,7 +467,9 @@ void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
if(bod->isMultiDof()) if(bod->isMultiDof())
{ {
if(!bod->isUsingRK4Integration()) if(!bod->isUsingRK4Integration())
{
bod->stepVelocitiesMultiDof(solverInfo.m_timeStep, scratch_r, scratch_v, scratch_m); bod->stepVelocitiesMultiDof(solverInfo.m_timeStep, scratch_r, scratch_v, scratch_m);
}
else else
{ {
// //
@@ -625,9 +626,12 @@ void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
} }
} }
else else//if(bod->isMultiDof())
{
bod->stepVelocities(solverInfo.m_timeStep, scratch_r, scratch_v, scratch_m); bod->stepVelocities(solverInfo.m_timeStep, scratch_r, scratch_v, scratch_m);
} }
bod->clearForcesAndTorques();
}//if (!isSleeping)
} }
} }