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Damping for spring motors added

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see btGeneric6DofSpringConstraint::setDamping()
This commit is contained in:
rponom
2009-06-02 01:10:43 +00:00
parent d58a14b4cd
commit ee664e7750
6 changed files with 21 additions and 3 deletions
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16
src/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.cpp
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@@ -26,6 +26,7 @@ btGeneric6DofSpringConstraint::btGeneric6DofSpringConstraint(btRigidBody& rbA, b
m_springEnabled[i] = false;
m_equilibriumPoint[i] = btScalar(0.f);
m_springStiffness[i] = btScalar(0.f);
m_springDamping[i] = btScalar(1.f);
}
}
@@ -53,6 +54,13 @@ void btGeneric6DofSpringConstraint::setStiffness(int index, btScalar stiffness)
}
void btGeneric6DofSpringConstraint::setDamping(int index, btScalar damping)
{
btAssert((index >= 0) && (index < 6));
m_springDamping[index] = damping;
}
void btGeneric6DofSpringConstraint::setEquilibriumPoint()
{
calculateTransforms();
@@ -99,8 +107,9 @@ void btGeneric6DofSpringConstraint::internalUpdateSprings(btConstraintInfo2* inf
btScalar delta = currPos - m_equilibriumPoint[i];
// spring force is (delta * m_stiffness) according to Hooke's Law
btScalar force = delta * m_springStiffness[i];
m_linearLimits.m_targetVelocity[i] = force * info->fps;
m_linearLimits.m_maxMotorForce[i] = btFabs(force) / info->fps;
btScalar velFactor = info->fps * m_springDamping[i] / btScalar(info->m_numIterations);
m_linearLimits.m_targetVelocity[i] = velFactor * force;
m_linearLimits.m_maxMotorForce[i] = btFabs(force) / info->fps;
}
}
for(i = 0; i < 3; i++)
@@ -113,7 +122,8 @@ void btGeneric6DofSpringConstraint::internalUpdateSprings(btConstraintInfo2* inf
btScalar delta = currPos - m_equilibriumPoint[i+3];
// spring force is (-delta * m_stiffness) according to Hooke's Law
btScalar force = -delta * m_springStiffness[i+3];
m_angularLimits[i].m_targetVelocity = force * info->fps;
btScalar velFactor = info->fps * m_springDamping[i+3] / btScalar(info->m_numIterations);
m_angularLimits[i].m_targetVelocity = velFactor * force;
m_angularLimits[i].m_maxMotorForce = btFabs(force) / info->fps;
}
}