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make GLUT optional in cmake

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fix for btMultiBody to avoid extreme energy gain
This commit is contained in:
Erwin Coumans
2014-03-17 23:58:03 -07:00
parent 9f92232640
commit cfb06f9cd3
51 changed files with 464 additions and 27 deletions
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48
src/BulletDynamics/Featherstone/btMultiBody.cpp
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@@ -100,6 +100,7 @@ btMultiBody::btMultiBody(int n_links,
m_angularDamping(0.04f),
m_useGyroTerm(true),
m_maxAppliedImpulse(1000.f),
m_maxCoordinateVelocity(100.f),
m_hasSelfCollision(true),
m_dofCount(0),
__posUpdated(false),
@@ -2410,12 +2411,24 @@ void btMultiBody::calcAccelerationDeltas(const btScalar *force, btScalar *output
output[4] = vdot_out[1];
output[5] = vdot_out[2];
/////////////////
//printf("delta = [");
//for(int dof = 0; dof < getNumLinks() + 6; ++dof)
// printf("%.2f ", output[dof]);
//printf("]\n");
/*
int ndof = getNumLinks() + 6;
printf("test force(impulse) (%d) = [\n",ndof);
for (int i=0;i<ndof;i++)
{
printf("%.2f ", force[i]);
printf("]\n");
}
printf("delta(%d) = [",ndof);
for(int dof = 0; dof < getNumLinks() + 6; ++dof)
printf("%.2f ", output[dof]);
printf("]\n");
/////////////////
*/
int dummy = 0;
}
@@ -2747,16 +2760,25 @@ void btMultiBody::fillContactJacobian(int link,
n_local[0] = rot_from_world[0] * normal;
// omega coeffients first.
btVector3 omega_coeffs;
omega_coeffs = p_minus_com_world.cross(normal);
jac[0] = omega_coeffs[0];
jac[1] = omega_coeffs[1];
jac[2] = omega_coeffs[2];
// then v coefficients
jac[3] = normal[0];
jac[4] = normal[1];
jac[5] = normal[2];
if (this->m_fixedBase)
{
for (int i=0;i<6;i++)
{
jac[i]=0;
}
} else
{
btVector3 omega_coeffs;
omega_coeffs = p_minus_com_world.cross(normal);
jac[0] = omega_coeffs[0];
jac[1] = omega_coeffs[1];
jac[2] = omega_coeffs[2];
// then v coefficients
jac[3] = normal[0];
jac[4] = normal[1];
jac[5] = normal[2];
}
// Set remaining jac values to zero for now.
for (int i = 6; i < 6 + num_links; ++i) {
jac[i] = 0;

13
src/BulletDynamics/Featherstone/btMultiBody.h
View File

@@ -342,6 +342,7 @@ public:
{
sum += delta_vee[i]*multiplier*delta_vee[i]*multiplier;
m_realBuf[i] += delta_vee[i] * multiplier;
btClamp(m_realBuf[i],-m_maxCoordinateVelocity,m_maxCoordinateVelocity);
}
}
@@ -366,6 +367,7 @@ public:
for (int dof = 0; dof < 6 + getNumDofs(); ++dof)
{
m_realBuf[dof] += delta_vee[dof] * multiplier;
btClamp(m_realBuf[dof],-m_maxCoordinateVelocity,m_maxCoordinateVelocity);
}
}
@@ -473,6 +475,15 @@ public:
{
m_useGyroTerm = useGyro;
}
btScalar getMaxCoordinateVelocity() const
{
return m_maxCoordinateVelocity ;
}
void setMaxCoordinateVelocity(btScalar maxVel)
{
m_maxCoordinateVelocity = maxVel;
}
btScalar getMaxAppliedImpulse() const
{
return m_maxAppliedImpulse;
@@ -481,7 +492,6 @@ public:
{
m_maxAppliedImpulse = maxImp;
}
void setHasSelfCollision(bool hasSelfCollision)
{
m_hasSelfCollision = hasSelfCollision;
@@ -582,6 +592,7 @@ private:
btScalar m_angularDamping;
bool m_useGyroTerm;
btScalar m_maxAppliedImpulse;
btScalar m_maxCoordinateVelocity;
bool m_hasSelfCollision;
bool m_isMultiDof;
};