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Merge remote-tracking branch 'bp/master'

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This commit is contained in:
Erwin Coumans
2018-11-25 12:58:22 -08:00
parent cf48697fcf c41dc0bba2
commit fbfa13894b
3 changed files with 37 additions and 524 deletions
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6
src/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp
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@@ -860,7 +860,11 @@ int btGeneric6DofSpring2Constraint::get_limit_motor_info2(
// will we not request a velocity with the wrong direction ?
// and the answare is not, because in practice during the solving the current velocity is subtracted from the m_constraintError
// so the sign of the force that is really matters
info->m_constraintError[srow] = (rotational ? -1 : 1) * (f < 0 ? -SIMD_INFINITY : SIMD_INFINITY);
// BEWARE! This whole approach has shown osciliation issues that prevent proper damping.
if ( m_flags & BT_6DOF_FLAGS_USE_INFINITE_ERROR )
info->m_constraintError[srow] = (rotational ? -1 : 1) * (f < 0 ? -SIMD_INFINITY : SIMD_INFINITY);
else
info->m_constraintError[srow] = vel + f / m * (rotational ? -1 : 1);
btScalar minf = f < fd ? f : fd;
btScalar maxf = f < fd ? fd : f;

3
src/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h
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@@ -264,7 +264,8 @@ enum bt6DofFlags2
BT_6DOF_FLAGS_CFM_STOP2 = 1,
BT_6DOF_FLAGS_ERP_STOP2 = 2,
BT_6DOF_FLAGS_CFM_MOTO2 = 4,
BT_6DOF_FLAGS_ERP_MOTO2 = 8
BT_6DOF_FLAGS_ERP_MOTO2 = 8,
BT_6DOF_FLAGS_USE_INFINITE_ERROR = (1<<31),
};
#define BT_6DOF_FLAGS_AXIS_SHIFT2 4 // bits per axis