diff options
Diffstat (limited to 'thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp')
| -rw-r--r-- | thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp | 5 |
1 files changed, 4 insertions, 1 deletions
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp index 93626f18ff..74a13c6249 100644 --- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp +++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp @@ -876,7 +876,10 @@ int btGeneric6DofSpring2Constraint::get_limit_motor_info2( // will we not request a velocity with the wrong direction ? // and the answer 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); + 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; |