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updated rotational-only hinge

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This commit is contained in:
ejcoumans
2006-11-21 01:38:18 +00:00
parent 4a23f4f438
commit c801569644
1 changed files with 38 additions and 36 deletions
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74
src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp
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@@ -226,44 +226,46 @@ void btHingeConstraint::solveConstraint(btScalar timeStep)
} }
} }
///solve angular part if (!m_angularOnly)
// get axes in world space
btVector3 axisA = getRigidBodyA().getCenterOfMassTransform().getBasis() * m_axisInA;
btVector3 axisB = getRigidBodyB().getCenterOfMassTransform().getBasis() * m_axisInB;
const btVector3& angVelA = getRigidBodyA().getAngularVelocity();
const btVector3& angVelB = getRigidBodyB().getAngularVelocity();
btVector3 angA = angVelA - axisA * axisA.dot(angVelA);
btVector3 angB = angVelB - axisB * axisB.dot(angVelB);
btVector3 velrel = angA-angB;
//solve angular velocity correction
float relaxation = 1.f;
float len = velrel.length();
if (len > 0.00001f)
{ {
btVector3 normal = velrel.normalized(); ///solve angular part
float denom = getRigidBodyA().computeAngularImpulseDenominator(normal) +
getRigidBodyB().computeAngularImpulseDenominator(normal); // get axes in world space
// scale for mass and relaxation btVector3 axisA = getRigidBodyA().getCenterOfMassTransform().getBasis() * m_axisInA;
velrel *= (1.f/denom) * 0.9; btVector3 axisB = getRigidBodyB().getCenterOfMassTransform().getBasis() * m_axisInB;
const btVector3& angVelA = getRigidBodyA().getAngularVelocity();
const btVector3& angVelB = getRigidBodyB().getAngularVelocity();
btVector3 angA = angVelA - axisA * axisA.dot(angVelA);
btVector3 angB = angVelB - axisB * axisB.dot(angVelB);
btVector3 velrel = angA-angB;
//solve angular velocity correction
float relaxation = 1.f;
float len = velrel.length();
if (len > 0.00001f)
{
btVector3 normal = velrel.normalized();
float denom = getRigidBodyA().computeAngularImpulseDenominator(normal) +
getRigidBodyB().computeAngularImpulseDenominator(normal);
// scale for mass and relaxation
velrel *= (1.f/denom) * 0.9;
}
//solve angular positional correction
btVector3 angularError = -axisA.cross(axisB) *(1.f/timeStep);
float len2 = angularError.length();
if (len2>0.00001f)
{
btVector3 normal2 = angularError.normalized();
float denom2 = getRigidBodyA().computeAngularImpulseDenominator(normal2) +
getRigidBodyB().computeAngularImpulseDenominator(normal2);
angularError *= (1.f/denom2) * relaxation;
}
m_rbA.applyTorqueImpulse(-velrel+angularError);
m_rbB.applyTorqueImpulse(velrel-angularError);
} }
//solve angular positional correction
btVector3 angularError = -axisA.cross(axisB) *(1.f/timeStep);
float len2 = angularError.length();
if (len2>0.00001f)
{
btVector3 normal2 = angularError.normalized();
float denom2 = getRigidBodyA().computeAngularImpulseDenominator(normal2) +
getRigidBodyB().computeAngularImpulseDenominator(normal2);
angularError *= (1.f/denom2) * relaxation;
}
m_rbA.applyTorqueImpulse(-velrel+angularError);
m_rbB.applyTorqueImpulse(velrel-angularError);
#endif #endif
} }