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fix a problem in the btMultiBodyConstraint related to self-collision, see also

Browse Source 
https://github.com/bulletphysics/bullet3/issues/290
This commit is contained in:
erwin coumans
2014-12-09 16:57:21 -08:00
parent dc731280b8
commit cf2b4e03b5
2 changed files with 9 additions and 26 deletions
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18
src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp
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@@ -402,24 +402,16 @@ void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySol
}
}
if (multiBodyA && (multiBodyA==multiBodyB))
{
// ndof1 == ndof2 in this case
for (int i = 0; i < ndofA; ++i)
{
denom1 += jacB[i] * lambdaA[i];
denom1 += jacA[i] * lambdaB[i];
}
}
btScalar d = denom0+denom1;
if (btFabs(d)>SIMD_EPSILON)
if (d>SIMD_EPSILON)
{
solverConstraint.m_jacDiagABInv = relaxation/(d);
solverConstraint.m_jacDiagABInv = relaxation/(d);
} else
{
solverConstraint.m_jacDiagABInv = 1.f;
//disable the constraint row to handle singularity/redundant constraint
solverConstraint.m_jacDiagABInv = 0.f;
}
}