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dirty changes - stabilization hacks

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This commit is contained in:
kubas
2014-01-09 00:51:42 +01:00
parent 96ff69276f
commit cb556f9525
6 changed files with 182 additions and 30 deletions
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6
src/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp
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@@ -21,11 +21,13 @@ subject to the following restrictions:
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
btMultiBodyJointMotor::btMultiBodyJointMotor(btMultiBody* body, int link, btScalar desiredVelocity, btScalar maxMotorImpulse)
btMultiBodyJointMotor::btMultiBodyJointMotor(btMultiBody* body, int link, int linkDoF, btScalar desiredVelocity, btScalar maxMotorImpulse)
//:btMultiBodyConstraint(body,0,link,-1,1,true),
:btMultiBodyConstraint(body,body,link,link,1,true),
m_desiredVelocity(desiredVelocity)
{
btAssert(linkDoF < body->getLink(link).m_dofCount);
m_maxAppliedImpulse = maxMotorImpulse;
// the data.m_jacobians never change, so may as well
// initialize them here
@@ -33,7 +35,7 @@ btMultiBodyJointMotor::btMultiBodyJointMotor(btMultiBody* body, int link, btScal
// note: we rely on the fact that data.m_jacobians are
// always initialized to zero by the Constraint ctor
unsigned int offset = 6 + (body->isMultiDof() ? body->getLink(link).m_dofOffset : link);
unsigned int offset = 6 + (body->isMultiDof() ? body->getLink(link).m_dofOffset + linkDoF : link);
// row 0: the lower bound
// row 0: the lower bound