diff options
Diffstat (limited to 'servers/physics/joints')
| -rw-r--r-- | servers/physics/joints/cone_twist_joint_sw.cpp | 10 | ||||
| -rw-r--r-- | servers/physics/joints/cone_twist_joint_sw.h | 4 | ||||
| -rw-r--r-- | servers/physics/joints/generic_6dof_joint_sw.cpp | 6 | ||||
| -rw-r--r-- | servers/physics/joints/generic_6dof_joint_sw.h | 4 |
4 files changed, 12 insertions, 12 deletions
diff --git a/servers/physics/joints/cone_twist_joint_sw.cpp b/servers/physics/joints/cone_twist_joint_sw.cpp index 51bc27ea7d..d00eab53d3 100644 --- a/servers/physics/joints/cone_twist_joint_sw.cpp +++ b/servers/physics/joints/cone_twist_joint_sw.cpp @@ -110,7 +110,7 @@ ConeTwistJointSW::ConeTwistJointSW(BodySW *rbA, BodySW *rbB, const Transform &rb m_appliedImpulse = 0; } -bool ConeTwistJointSW::setup(real_t p_step) { +bool ConeTwistJointSW::setup(real_t p_timestep) { m_appliedImpulse = real_t(0.); //set bias, sign, clear accumulator @@ -237,7 +237,7 @@ bool ConeTwistJointSW::setup(real_t p_step) { return true; } -void ConeTwistJointSW::solve(real_t timeStep) { +void ConeTwistJointSW::solve(real_t p_timestep) { Vector3 pivotAInW = A->get_transform().xform(m_rbAFrame.origin); Vector3 pivotBInW = B->get_transform().xform(m_rbBFrame.origin); @@ -261,7 +261,7 @@ void ConeTwistJointSW::solve(real_t timeStep) { rel_vel = normal.dot(vel); //positional error (zeroth order error) real_t depth = -(pivotAInW - pivotBInW).dot(normal); //this is the error projected on the normal - real_t impulse = depth * tau / timeStep * jacDiagABInv - rel_vel * jacDiagABInv; + real_t impulse = depth * tau / p_timestep * jacDiagABInv - rel_vel * jacDiagABInv; m_appliedImpulse += impulse; Vector3 impulse_vector = normal * impulse; A->apply_impulse(pivotAInW - A->get_transform().origin, impulse_vector); @@ -276,7 +276,7 @@ void ConeTwistJointSW::solve(real_t timeStep) { // solve swing limit if (m_solveSwingLimit) { - real_t amplitude = ((angVelB - angVelA).dot(m_swingAxis) * m_relaxationFactor * m_relaxationFactor + m_swingCorrection * (real_t(1.) / timeStep) * m_biasFactor); + real_t amplitude = ((angVelB - angVelA).dot(m_swingAxis) * m_relaxationFactor * m_relaxationFactor + m_swingCorrection * (real_t(1.) / p_timestep) * m_biasFactor); real_t impulseMag = amplitude * m_kSwing; // Clamp the accumulated impulse @@ -292,7 +292,7 @@ void ConeTwistJointSW::solve(real_t timeStep) { // solve twist limit if (m_solveTwistLimit) { - real_t amplitude = ((angVelB - angVelA).dot(m_twistAxis) * m_relaxationFactor * m_relaxationFactor + m_twistCorrection * (real_t(1.) / timeStep) * m_biasFactor); + real_t amplitude = ((angVelB - angVelA).dot(m_twistAxis) * m_relaxationFactor * m_relaxationFactor + m_twistCorrection * (real_t(1.) / p_timestep) * m_biasFactor); real_t impulseMag = amplitude * m_kTwist; // Clamp the accumulated impulse diff --git a/servers/physics/joints/cone_twist_joint_sw.h b/servers/physics/joints/cone_twist_joint_sw.h index 65d26d0ca7..f0e029712c 100644 --- a/servers/physics/joints/cone_twist_joint_sw.h +++ b/servers/physics/joints/cone_twist_joint_sw.h @@ -104,8 +104,8 @@ public: public: virtual PhysicsServer::JointType get_type() const { return PhysicsServer::JOINT_CONE_TWIST; } - virtual bool setup(real_t p_step); - virtual void solve(real_t p_step); + virtual bool setup(real_t p_timestep); + virtual void solve(real_t p_timestep); ConeTwistJointSW(BodySW *rbA, BodySW *rbB, const Transform &rbAFrame, const Transform &rbBFrame); diff --git a/servers/physics/joints/generic_6dof_joint_sw.cpp b/servers/physics/joints/generic_6dof_joint_sw.cpp index e4349bda9a..e1cd6ee7e5 100644 --- a/servers/physics/joints/generic_6dof_joint_sw.cpp +++ b/servers/physics/joints/generic_6dof_joint_sw.cpp @@ -298,7 +298,7 @@ bool Generic6DOFJointSW::testAngularLimitMotor(int axis_index) { return m_angularLimits[axis_index].needApplyTorques(); } -bool Generic6DOFJointSW::setup(real_t p_step) { +bool Generic6DOFJointSW::setup(real_t p_timestep) { // Clear accumulated impulses for the next simulation step m_linearLimits.m_accumulatedImpulse = Vector3(real_t(0.), real_t(0.), real_t(0.)); @@ -347,8 +347,8 @@ bool Generic6DOFJointSW::setup(real_t p_step) { return true; } -void Generic6DOFJointSW::solve(real_t timeStep) { - m_timeStep = timeStep; +void Generic6DOFJointSW::solve(real_t p_timestep) { + m_timeStep = p_timestep; //calculateTransforms(); diff --git a/servers/physics/joints/generic_6dof_joint_sw.h b/servers/physics/joints/generic_6dof_joint_sw.h index 4af0c93876..587a5850df 100644 --- a/servers/physics/joints/generic_6dof_joint_sw.h +++ b/servers/physics/joints/generic_6dof_joint_sw.h @@ -264,8 +264,8 @@ public: virtual PhysicsServer::JointType get_type() const { return PhysicsServer::JOINT_6DOF; } - virtual bool setup(real_t p_step); - virtual void solve(real_t p_step); + virtual bool setup(real_t p_timestep); + virtual void solve(real_t p_timestep); //! Calcs global transform of the offsets /*! |