diff options
| author | Rémi Verschelde <rverschelde@gmail.com> | 2020-12-30 13:39:14 +0100 |
|---|---|---|
| committer | Rémi Verschelde <rverschelde@gmail.com> | 2020-12-30 13:39:14 +0100 |
| commit | e495c2cb21f57e89e62a8d950411cdfa37dd8852 (patch) | |
| tree | ae9e63c4c5fa49e56da998483f41e6faccea926d /thirdparty/bullet/BulletDynamics | |
| parent | f69c116fa7b93b7a6e2aac7456fa547023335d7c (diff) | |
bullet: Sync with upstream 3.08
Diffstat (limited to 'thirdparty/bullet/BulletDynamics')
| -rw-r--r-- | thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.cpp | 5 | ||||
| -rw-r--r-- | thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.h | 3 |
2 files changed, 6 insertions, 2 deletions
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.cpp index bec8c6530d..7cb92fa3b4 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.cpp +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.cpp @@ -125,7 +125,8 @@ btMultiBody::btMultiBody(int n_links, m_posVarCnt(0), m_useRK4(false), m_useGlobalVelocities(false), - m_internalNeedsJointFeedback(false) + m_internalNeedsJointFeedback(false), + m_kinematic_calculate_velocity(false) { m_cachedInertiaTopLeft.setValue(0, 0, 0, 0, 0, 0, 0, 0, 0); m_cachedInertiaTopRight.setValue(0, 0, 0, 0, 0, 0, 0, 0, 0); @@ -2381,7 +2382,7 @@ const char *btMultiBody::serialize(void *dataBuffer, class btSerializer *seriali void btMultiBody::saveKinematicState(btScalar timeStep) { //todo: clamp to some (user definable) safe minimum timestep, to limit maximum angular/linear velocities - if (timeStep != btScalar(0.)) + if (m_kinematic_calculate_velocity && timeStep != btScalar(0.)) { btVector3 linearVelocity, angularVelocity; btTransformUtil::calculateVelocity(getInterpolateBaseWorldTransform(), getBaseWorldTransform(), timeStep, linearVelocity, angularVelocity); diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.h index 25112a6805..5a3efc9414 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.h +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.h @@ -823,6 +823,9 @@ private: ///the m_needsJointFeedback gets updated/computed during the stepVelocitiesMultiDof and it for internal usage only bool m_internalNeedsJointFeedback; + + //If enabled, calculate the velocity based on kinematic transform changes. Currently only implemented for the base. + bool m_kinematic_calculate_velocity; }; struct btMultiBodyLinkDoubleData |