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More stable btConeTwistConstraint to fix the RagdollDemo

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rponom
2008-09-12 02:55:03 +00:00
parent a6f47f17d8
commit ddccc2797a
1 changed files with 19 additions and 2 deletions
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21
src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp
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@@ -114,17 +114,34 @@ void btConeTwistConstraint::buildJacobian()
btScalar swing1=btScalar(0.),swing2 = btScalar(0.);
btScalar swx=btScalar(0.),swy = btScalar(0.);
btScalar thresh = btScalar(10.);
btScalar fact;
// Get Frame into world space
if (m_swingSpan1 >= btScalar(0.05f))
{
b1Axis2 = getRigidBodyA().getCenterOfMassTransform().getBasis() * this->m_rbAFrame.getBasis().getColumn(1);
swing1 = btAtan2Fast( b2Axis1.dot(b1Axis2),b2Axis1.dot(b1Axis1) );
// swing1 = btAtan2Fast( b2Axis1.dot(b1Axis2),b2Axis1.dot(b1Axis1) );
swx = b2Axis1.dot(b1Axis1);
swy = b2Axis1.dot(b1Axis2);
swing1 = btAtan2Fast(swy, swx);
fact = (swy*swy + swx*swx) * thresh * thresh;
fact = fact / (fact + btScalar(1.0));
swing1 *= fact;
}
if (m_swingSpan2 >= btScalar(0.05f))
{
b1Axis3 = getRigidBodyA().getCenterOfMassTransform().getBasis() * this->m_rbAFrame.getBasis().getColumn(2);
swing2 = btAtan2Fast( b2Axis1.dot(b1Axis3),b2Axis1.dot(b1Axis1) );
// swing2 = btAtan2Fast( b2Axis1.dot(b1Axis3),b2Axis1.dot(b1Axis1) );
swx = b2Axis1.dot(b1Axis1);
swy = b2Axis1.dot(b1Axis3);
swing2 = btAtan2Fast(swy, swx);
fact = (swy*swy + swx*swx) * thresh * thresh;
fact = fact / (fact + btScalar(1.0));
swing2 *= fact;
}
btScalar RMaxAngle1Sq = 1.0f / (m_swingSpan1*m_swingSpan1);