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Auto limitation of spring stiffness and damping in btGeneric6DofSpring2Constraint is now optional.

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Fix: spring stiffness limitation used the mass incorrectly in btGeneric6DofSpring2Constraint.
This commit is contained in:
Gabor Puhr
2015-05-22 12:58:28 +02:00
parent a34d04d211
commit 98e1334a64
4 changed files with 290 additions and 248 deletions
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16
Extras/Serialize/BulletWorldImporter/btWorldImporter.cpp
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@@ -991,17 +991,17 @@ void btWorldImporter::convertConstraintFloat(btTypedConstraintFloatData* constra
//6-dof: 3 linear followed by 3 angular
for (i=0;i<3;i++)
{
dof->setStiffness(i,dofData->m_linearSpringStiffness.m_floats[i]);
dof->setStiffness(i,dofData->m_linearSpringStiffness.m_floats[i],dofData->m_linearSpringStiffnessLimited[i]!=0);
dof->setEquilibriumPoint(i,dofData->m_linearEquilibriumPoint.m_floats[i]);
dof->enableSpring(i,dofData->m_linearEnableSpring[i]!=0);
dof->setDamping(i,dofData->m_linearSpringDamping.m_floats[i]);
dof->setDamping(i,dofData->m_linearSpringDamping.m_floats[i],dofData->m_linearSpringDampingLimited[i]);
}
for (i=0;i<3;i++)
{
dof->setStiffness(i+3,dofData->m_angularSpringStiffness.m_floats[i]);
dof->setStiffness(i+3,dofData->m_angularSpringStiffness.m_floats[i],dofData->m_angularSpringStiffnessLimited[i]);
dof->setEquilibriumPoint(i+3,dofData->m_angularEquilibriumPoint.m_floats[i]);
dof->enableSpring(i+3,dofData->m_angularEnableSpring[i]!=0);
dof->setDamping(i+3,dofData->m_angularSpringDamping.m_floats[i]);
dof->setDamping(i+3,dofData->m_angularSpringDamping.m_floats[i],dofData->m_angularSpringDampingLimited[i]);
}
}
@@ -1321,17 +1321,17 @@ void btWorldImporter::convertConstraintDouble(btTypedConstraintDoubleData* const
//6-dof: 3 linear followed by 3 angular
for (i=0;i<3;i++)
{
dof->setStiffness(i,dofData->m_linearSpringStiffness.m_floats[i]);
dof->setStiffness(i,dofData->m_linearSpringStiffness.m_floats[i],dofData->m_linearSpringStiffnessLimited[i]);
dof->setEquilibriumPoint(i,dofData->m_linearEquilibriumPoint.m_floats[i]);
dof->enableSpring(i,dofData->m_linearEnableSpring[i]!=0);
dof->setDamping(i,dofData->m_linearSpringDamping.m_floats[i]);
dof->setDamping(i,dofData->m_linearSpringDamping.m_floats[i],dofData->m_linearSpringDampingLimited[i]);
}
for (i=0;i<3;i++)
{
dof->setStiffness(i+3,dofData->m_angularSpringStiffness.m_floats[i]);
dof->setStiffness(i+3,dofData->m_angularSpringStiffness.m_floats[i],dofData->m_angularSpringStiffnessLimited[i]);
dof->setEquilibriumPoint(i+3,dofData->m_angularEquilibriumPoint.m_floats[i]);
dof->enableSpring(i+3,dofData->m_angularEnableSpring[i]!=0);
dof->setDamping(i+3,dofData->m_angularSpringDamping.m_floats[i]);
dof->setDamping(i+3,dofData->m_angularSpringDamping.m_floats[i],dofData->m_angularSpringDampingLimited[i]);
}
}