dirty changes - stabilization hacks

2014-01-09 00:51:42 +01:00
parent 96ff69276f
commit cb556f9525
6 changed files with 182 additions and 30 deletions
--- a/src/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp
+++ b/src/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp
@@ -197,7 +197,9 @@ btScalar btMultiBodyConstraint::fillConstraintRowMultiBodyMultiBody(btMultiBodyS
 				rel_vel += multiBodyB->getVelocityVector()[i] * jacB[i];

 		}
-
+		for (int i = 6; i < ndofA ; ++i) 
+			printf("%.4f ", multiBodyA->getVelocityVector()[i]);
+		printf("\nrel_vel = %.4f\n------------\n", rel_vel);
 		constraintRow.m_friction = 0.f;

 		constraintRow.m_appliedImpulse = 0.f;