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fix a bug related to joint reaction forces (clearMultiBodyConstraintForces was clearing forces after they were computed in some cases)

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This commit is contained in:
erwincoumans
2017-11-09 10:46:13 -08:00
parent bfc40e9ef2
commit d6b3f735b6
3 changed files with 8 additions and 1 deletions
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3
src/BulletDynamics/Featherstone/btMultiBody.cpp
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@@ -136,6 +136,9 @@ btMultiBody::btMultiBody(int n_links,
m_baseForce.setValue(0, 0, 0); m_baseForce.setValue(0, 0, 0);
m_baseTorque.setValue(0, 0, 0); m_baseTorque.setValue(0, 0, 0);
clearConstraintForces();
clearForcesAndTorques();
} }
btMultiBody::~btMultiBody() btMultiBody::~btMultiBody()

4
src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
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@@ -411,6 +411,8 @@ void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
BT_PROFILE("solveConstraints"); BT_PROFILE("solveConstraints");
clearMultiBodyConstraintForces();
m_sortedConstraints.resize( m_constraints.size()); m_sortedConstraints.resize( m_constraints.size());
int i; int i;
for (i=0;i<getNumConstraints();i++) for (i=0;i<getNumConstraints();i++)
@@ -669,7 +671,7 @@ void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
} }
} }
clearMultiBodyConstraintForces();
m_solverMultiBodyIslandCallback->processConstraints(); m_solverMultiBodyIslandCallback->processConstraints();

2
src/BulletDynamics/Featherstone/btMultiBodyLink.h
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@@ -182,6 +182,8 @@ btVector3 m_appliedConstraintForce; // In WORLD frame
m_cachedRVector.setValue(0, 0, 0); m_cachedRVector.setValue(0, 0, 0);
m_appliedForce.setValue( 0, 0, 0); m_appliedForce.setValue( 0, 0, 0);
m_appliedTorque.setValue(0, 0, 0); m_appliedTorque.setValue(0, 0, 0);
m_appliedConstraintForce.setValue(0,0,0);
m_appliedConstraintTorque.setValue(0,0,0);
// //
m_jointPos[0] = m_jointPos[1] = m_jointPos[2] = m_jointPos[4] = m_jointPos[5] = m_jointPos[6] = 0.f; m_jointPos[0] = m_jointPos[1] = m_jointPos[2] = m_jointPos[4] = m_jointPos[5] = m_jointPos[6] = 0.f;
m_jointPos[3] = 1.f; //"quat.w" m_jointPos[3] = 1.f; //"quat.w"