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Improve damping formula in btRigidBody::applyDamping

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Thanks to sparkprime, see http://code.google.com/p/bullet/issues/detail?id=74
Fixed btCompoundShape/btCapsuleShape/btGImpactShape for missing m_shapeType, and added an assert in DemoApplication::localCreateRigidBody for invalid shape types.
This commit is contained in:
erwin.coumans
2008-09-30 00:34:58 +00:00
parent d221d3be8d
commit 9f28b2bc12
5 changed files with 15 additions and 4 deletions
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9
src/BulletDynamics/Dynamics/btRigidBody.cpp
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@@ -143,8 +143,17 @@ void btRigidBody::setDamping(btScalar lin_damping, btScalar ang_damping)
///applyDamping damps the velocity, using the given m_linearDamping and m_angularDamping
void btRigidBody::applyDamping(btScalar timeStep)
{
//On new damping: see discussion/issue report here: http://code.google.com/p/bullet/issues/detail?id=74
//todo: do some performance comparisons (but other parts of the engine are probably bottleneck anyway
//#define USE_OLD_DAMPING_METHOD 1
#ifdef USE_OLD_DAMPING_METHOD
m_linearVelocity *= GEN_clamped((btScalar(1.) - timeStep * m_linearDamping), (btScalar)btScalar(0.0), (btScalar)btScalar(1.0));
m_angularVelocity *= GEN_clamped((btScalar(1.) - timeStep * m_angularDamping), (btScalar)btScalar(0.0), (btScalar)btScalar(1.0));
#else
m_linearVelocity *= btPow(btScalar(1)-m_linearDamping, timeStep);
m_angularVelocity *= btPow(btScalar(1)-m_angularDamping, timeStep);
#endif
if (m_additionalDamping)
{