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| author | Rémi Verschelde <rverschelde@gmail.com> | 2021-09-29 15:47:08 +0200 |
|---|---|---|
| committer | Rémi Verschelde <rverschelde@gmail.com> | 2021-09-30 10:45:40 +0200 |
| commit | 71f8b809b2e650755dee9b7d5005c889a6bd3ae1 (patch) | |
| tree | ee7479cea32b5c9dbb82ff3fe90f8d7940c7ace1 /thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodySphericalJointMotor.cpp | |
| parent | 4a9a2315666ecdde98b2e0f61802b005b862203d (diff) | |
bullet: Sync with upstream 3.17
Stop include Bullet headers using `-isystem` for GCC/Clang as it misleads
SCons into not properly rebuilding all files when headers change.
This means we also need to make sure Bullet builds without warning, and
current version fares fairly well, there were just a couple to fix (patch
included).
Increase minimum version for distro packages to 2.90 (this was never released
as the "next" version after 2.89 was 3.05... but that covers it too).
Fixes #43868.
(cherry picked from commit b7901c773c2eaff26b5c3a5342773a70571b2648)
Diffstat (limited to 'thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodySphericalJointMotor.cpp')
| -rw-r--r-- | thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodySphericalJointMotor.cpp | 21 |
1 files changed, 15 insertions, 6 deletions
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodySphericalJointMotor.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodySphericalJointMotor.cpp index 5c20d2a0d4..00a7ef3579 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodySphericalJointMotor.cpp +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodySphericalJointMotor.cpp @@ -26,10 +26,13 @@ btMultiBodySphericalJointMotor::btMultiBodySphericalJointMotor(btMultiBody* body : btMultiBodyConstraint(body, body, link, body->getLink(link).m_parent, 3, true, MULTIBODY_CONSTRAINT_SPHERICAL_MOTOR), m_desiredVelocity(0, 0, 0), m_desiredPosition(0,0,0,1), - m_kd(1.), - m_kp(0.2), + m_use_multi_dof_params(false), + m_kd(1., 1., 1.), + m_kp(0.2, 0.2, 0.2), m_erp(1), - m_rhsClamp(SIMD_INFINITY) + m_rhsClamp(SIMD_INFINITY), + m_maxAppliedImpulseMultiDof(maxMotorImpulse, maxMotorImpulse, maxMotorImpulse), + m_damping(1.0, 1.0, 1.0) { m_maxAppliedImpulse = maxMotorImpulse; @@ -45,6 +48,7 @@ void btMultiBodySphericalJointMotor::finalizeMultiDof() unsigned int offset = 6 + (m_bodyA->getLink(m_linkA).m_dofOffset + linkDoF); // row 0: the lower bound + // row 0: the lower bound jacobianA(0)[offset] = 1; m_numDofsFinalized = m_jacSizeBoth; @@ -138,7 +142,8 @@ btQuaternion relRot = currentQuat.inverse() * desiredQuat; btScalar currentVelocity = m_bodyA->getJointVelMultiDof(m_linkA)[dof]; btScalar desiredVelocity = this->m_desiredVelocity[row]; - btScalar velocityError = desiredVelocity - currentVelocity; + double kd = m_use_multi_dof_params ? m_kd[row % 3] : m_kd[0]; + btScalar velocityError = (desiredVelocity - currentVelocity) * kd; btMatrix3x3 frameAworld; frameAworld.setIdentity(); @@ -151,12 +156,16 @@ btQuaternion relRot = currentQuat.inverse() * desiredQuat; case btMultibodyLink::eSpherical: { btVector3 constraintNormalAng = frameAworld.getColumn(row % 3); - posError = m_kp*angleDiff[row % 3]; + double kp = m_use_multi_dof_params ? m_kp[row % 3] : m_kp[0]; + posError = kp*angleDiff[row % 3]; + double max_applied_impulse = m_use_multi_dof_params ? m_maxAppliedImpulseMultiDof[row % 3] : m_maxAppliedImpulse; fillMultiBodyConstraint(constraintRow, data, 0, 0, constraintNormalAng, btVector3(0,0,0), dummy, dummy, posError, infoGlobal, - -m_maxAppliedImpulse, m_maxAppliedImpulse, true); + -max_applied_impulse, max_applied_impulse, true, + 1.0, false, 0, 0, + m_damping[row % 3]); constraintRow.m_orgConstraint = this; constraintRow.m_orgDofIndex = row; break; |