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add BspDemo.bsp data file

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add sphere2.urdf
move btSpatialAlgebra into LinearMath
remove some warnings, introduce BT_ZERO, BT_ONE, BT_HALF as defines for 0.f/0., 1.f/1., 0.5f/0.5 respectively
This commit is contained in:
erwincoumans
2015-04-16 10:17:35 -07:00
parent a1bf9c5556
commit 794c8ec064
19 changed files with 448 additions and 420 deletions
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10
src/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp
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@@ -772,14 +772,14 @@ int btGeneric6DofSpring2Constraint::get_limit_motor_info2(
//info->m_lowerLimit[srow] = -SIMD_INFINITY;
//info->m_upperLimit[srow] = SIMD_INFINITY;
btScalar dt = 1.0 / info->fps;
btScalar dt = BT_ONE / info->fps;
btScalar kd = limot->m_springDamping;
btScalar ks = limot->m_springStiffness;
btScalar vel = rotational ? angVelA.dot(ax1) - angVelB.dot(ax1) : linVelA.dot(ax1) - linVelB.dot(ax1);
// btScalar erp = 0.1;
btScalar cfm = 0.0;
btScalar mA = 1.0 / m_rbA.getInvMass();
btScalar mB = 1.0 / m_rbB.getInvMass();
btScalar cfm = BT_ZERO;
btScalar mA = BT_ONE / m_rbA.getInvMass();
btScalar mB = BT_ONE / m_rbB.getInvMass();
btScalar m = mA > mB ? mB : mA;
btScalar angularfreq = sqrt(ks / m);
@@ -787,7 +787,7 @@ int btGeneric6DofSpring2Constraint::get_limit_motor_info2(
//limit stiffness (the spring should not be sampled faster that the quarter of its angular frequency)
if( 0.25 < angularfreq * dt)
{
ks = 1.0 / dt / dt / 16.0 / m;
ks = BT_ONE / dt / dt / btScalar(16.0) / m;
}
//avoid overdamping
if(kd * dt > m)