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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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64
src/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp
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@@ -495,22 +495,24 @@ int btGeneric6DofSpring2Constraint::setLinearLimits(btConstraintInfo2* info, int
{
if(m_linearLimits.m_currentLimit[i] || m_linearLimits.m_enableMotor[i] || m_linearLimits.m_enableSpring[i])
{ // re-use rotational motor code
limot.m_bounce = m_linearLimits.m_bounce[i];
limot.m_currentLimit = m_linearLimits.m_currentLimit[i];
limot.m_currentPosition = m_linearLimits.m_currentLinearDiff[i];
limot.m_currentLimitError = m_linearLimits.m_currentLimitError[i];
limot.m_currentLimitErrorHi = m_linearLimits.m_currentLimitErrorHi[i];
limot.m_enableMotor = m_linearLimits.m_enableMotor[i];
limot.m_servoMotor = m_linearLimits.m_servoMotor[i];
limot.m_servoTarget = m_linearLimits.m_servoTarget[i];
limot.m_enableSpring = m_linearLimits.m_enableSpring[i];
limot.m_springStiffness = m_linearLimits.m_springStiffness[i];
limot.m_springDamping = m_linearLimits.m_springDamping[i];
limot.m_equilibriumPoint = m_linearLimits.m_equilibriumPoint[i];
limot.m_hiLimit = m_linearLimits.m_upperLimit[i];
limot.m_loLimit = m_linearLimits.m_lowerLimit[i];
limot.m_maxMotorForce = m_linearLimits.m_maxMotorForce[i];
limot.m_targetVelocity = m_linearLimits.m_targetVelocity[i];
limot.m_bounce = m_linearLimits.m_bounce[i];
limot.m_currentLimit = m_linearLimits.m_currentLimit[i];
limot.m_currentPosition = m_linearLimits.m_currentLinearDiff[i];
limot.m_currentLimitError = m_linearLimits.m_currentLimitError[i];
limot.m_currentLimitErrorHi = m_linearLimits.m_currentLimitErrorHi[i];
limot.m_enableMotor = m_linearLimits.m_enableMotor[i];
limot.m_servoMotor = m_linearLimits.m_servoMotor[i];
limot.m_servoTarget = m_linearLimits.m_servoTarget[i];
limot.m_enableSpring = m_linearLimits.m_enableSpring[i];
limot.m_springStiffness = m_linearLimits.m_springStiffness[i];
limot.m_springStiffnessLimited = m_linearLimits.m_springStiffnessLimited[i];
limot.m_springDamping = m_linearLimits.m_springDamping[i];
limot.m_springDampingLimited = m_linearLimits.m_springDampingLimited[i];
limot.m_equilibriumPoint = m_linearLimits.m_equilibriumPoint[i];
limot.m_hiLimit = m_linearLimits.m_upperLimit[i];
limot.m_loLimit = m_linearLimits.m_lowerLimit[i];
limot.m_maxMotorForce = m_linearLimits.m_maxMotorForce[i];
limot.m_targetVelocity = m_linearLimits.m_targetVelocity[i];
btVector3 axis = m_calculatedTransformA.getBasis().getColumn(i);
int flags = m_flags >> (i * BT_6DOF_FLAGS_AXIS_SHIFT2);
limot.m_stopCFM = (flags & BT_6DOF_FLAGS_CFM_STOP2) ? m_linearLimits.m_stopCFM[i] : info->cfm[0];
@@ -785,12 +787,12 @@ 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)
if(limot->m_springStiffnessLimited && 0.25 < angularfreq * dt)
{
ks = BT_ONE / dt / dt / btScalar(16.0) / m;
ks = BT_ONE / dt / dt / btScalar(16.0) * m;
}
//avoid overdamping
if(kd * dt > m)
//avoid damping that would blow up the spring
if(limot->m_springDampingLimited && kd * dt > m)
{
kd = m / dt;
}
@@ -1023,22 +1025,28 @@ void btGeneric6DofSpring2Constraint::enableSpring(int index, bool onOff)
m_angularLimits[index - 3] .m_enableSpring = onOff;
}
void btGeneric6DofSpring2Constraint::setStiffness(int index, btScalar stiffness)
void btGeneric6DofSpring2Constraint::setStiffness(int index, btScalar stiffness, bool limitIfNeeded)
{
btAssert((index >= 0) && (index < 6));
if (index<3)
if (index<3) {
m_linearLimits.m_springStiffness[index] = stiffness;
else
m_angularLimits[index - 3] .m_springStiffness = stiffness;
m_linearLimits.m_springStiffnessLimited[index] = limitIfNeeded;
} else {
m_angularLimits[index - 3].m_springStiffness = stiffness;
m_angularLimits[index - 3].m_springStiffnessLimited = limitIfNeeded;
}
}
void btGeneric6DofSpring2Constraint::setDamping(int index, btScalar damping)
void btGeneric6DofSpring2Constraint::setDamping(int index, btScalar damping, bool limitIfNeeded)
{
btAssert((index >= 0) && (index < 6));
if (index<3)
if (index<3) {
m_linearLimits.m_springDamping[index] = damping;
else
m_angularLimits[index - 3] .m_springDamping = damping;
m_linearLimits.m_springDampingLimited[index] = limitIfNeeded;
} else {
m_angularLimits[index - 3].m_springDamping = damping;
m_angularLimits[index - 3].m_springDampingLimited = limitIfNeeded;
}
}
void btGeneric6DofSpring2Constraint::setEquilibriumPoint()