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

add comment and initialization

Browse Source
This commit is contained in:
Xuchen Han
2019-08-07 15:24:26 -07:00
parent 10e819db8e
commit 94aeb4657b
2 changed files with 3 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files

3
src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
View File

@@ -588,15 +588,14 @@ void btMultiBodyDynamicsWorld::solveExternalForces(btContactSolverInfo& solverIn
{ {
if (!bod->isUsingRK4Integration()) if (!bod->isUsingRK4Integration())
{ {
// avoid damping in external forces (e.g. gravity)
const btScalar linearDamp = bod->getLinearDamping(); const btScalar linearDamp = bod->getLinearDamping();
// const btScalar angularDamp = bod->getAngularDamping();
bod->setLinearDamping(0); bod->setLinearDamping(0);
bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(solverInfo.m_timeStep, bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(solverInfo.m_timeStep,
m_scratch_r, m_scratch_v, m_scratch_m,isConstraintPass, m_scratch_r, m_scratch_v, m_scratch_m,isConstraintPass,
getSolverInfo().m_jointFeedbackInWorldSpace, getSolverInfo().m_jointFeedbackInWorldSpace,
getSolverInfo().m_jointFeedbackInJointFrame); getSolverInfo().m_jointFeedbackInJointFrame);
bod->setLinearDamping(linearDamp); bod->setLinearDamping(linearDamp);
// bod->setAngularDamping(angularDamp);
} }
else else
{ {

2
src/BulletDynamics/Featherstone/btMultiBodyLink.h
View File

@@ -157,6 +157,7 @@ struct btMultibodyLink
m_parent(-1), m_parent(-1),
m_zeroRotParentToThis(0, 0, 0, 1), m_zeroRotParentToThis(0, 0, 0, 1),
m_cachedRotParentToThis(0, 0, 0, 1), m_cachedRotParentToThis(0, 0, 0, 1),
m_cachedRotParentToThis_interpolate(0, 0, 0, 1),
m_collider(0), m_collider(0),
m_flags(0), m_flags(0),
m_dofCount(0), m_dofCount(0),
@@ -179,6 +180,7 @@ struct btMultibodyLink
m_dVector.setValue(0, 0, 0); m_dVector.setValue(0, 0, 0);
m_eVector.setValue(0, 0, 0); m_eVector.setValue(0, 0, 0);
m_cachedRVector.setValue(0, 0, 0); m_cachedRVector.setValue(0, 0, 0);
m_cachedRVector_interpolate.setValue(0, 0, 0);
m_appliedForce.setValue(0, 0, 0); m_appliedForce.setValue(0, 0, 0);
m_appliedTorque.setValue(0, 0, 0); m_appliedTorque.setValue(0, 0, 0);
m_appliedConstraintForce.setValue(0, 0, 0); m_appliedConstraintForce.setValue(0, 0, 0);