diff options
Diffstat (limited to 'thirdparty/bullet/BulletDynamics/Dynamics/btRigidBody.cpp')
| -rw-r--r-- | thirdparty/bullet/BulletDynamics/Dynamics/btRigidBody.cpp | 19 |
1 files changed, 13 insertions, 6 deletions
diff --git a/thirdparty/bullet/BulletDynamics/Dynamics/btRigidBody.cpp b/thirdparty/bullet/BulletDynamics/Dynamics/btRigidBody.cpp index 9e8705b001..27fdead761 100644 --- a/thirdparty/bullet/BulletDynamics/Dynamics/btRigidBody.cpp +++ b/thirdparty/bullet/BulletDynamics/Dynamics/btRigidBody.cpp @@ -136,8 +136,13 @@ void btRigidBody::setGravity(const btVector3& acceleration) void btRigidBody::setDamping(btScalar lin_damping, btScalar ang_damping) { - m_linearDamping = btClamped(lin_damping, (btScalar)btScalar(0.0), (btScalar)btScalar(1.0)); - m_angularDamping = btClamped(ang_damping, (btScalar)btScalar(0.0), (btScalar)btScalar(1.0)); +#ifdef BT_USE_OLD_DAMPING_METHOD + m_linearDamping = btMax(lin_damping, btScalar(0.0)); + m_angularDamping = btMax(ang_damping, btScalar(0.0)); +#else + m_linearDamping = btClamped(lin_damping, btScalar(0.0), btScalar(1.0)); + m_angularDamping = btClamped(ang_damping, btScalar(0.0), btScalar(1.0)); +#endif } ///applyDamping damps the velocity, using the given m_linearDamping and m_angularDamping @@ -146,10 +151,9 @@ void btRigidBody::applyDamping(btScalar timeStep) //On new damping: see discussion/issue report here: http://code.google.com/p/bullet/issues/detail?id=74 //todo: do some performance comparisons (but other parts of the engine are probably bottleneck anyway -//#define USE_OLD_DAMPING_METHOD 1 -#ifdef USE_OLD_DAMPING_METHOD - m_linearVelocity *= GEN_clamped((btScalar(1.) - timeStep * m_linearDamping), (btScalar)btScalar(0.0), (btScalar)btScalar(1.0)); - m_angularVelocity *= GEN_clamped((btScalar(1.) - timeStep * m_angularDamping), (btScalar)btScalar(0.0), (btScalar)btScalar(1.0)); +#ifdef BT_USE_OLD_DAMPING_METHOD + m_linearVelocity *= btMax((btScalar(1.0) - timeStep * m_linearDamping), btScalar(0.0)); + m_angularVelocity *= btMax((btScalar(1.0) - timeStep * m_angularDamping), btScalar(0.0)); #else m_linearVelocity *= btPow(btScalar(1) - m_linearDamping, timeStep); m_angularVelocity *= btPow(btScalar(1) - m_angularDamping, timeStep); @@ -380,6 +384,9 @@ void btRigidBody::integrateVelocities(btScalar step) { m_angularVelocity *= (MAX_ANGVEL / step) / angvel; } + #if defined(BT_CLAMP_VELOCITY_TO) && BT_CLAMP_VELOCITY_TO > 0 + clampVelocity(m_angularVelocity); + #endif } btQuaternion btRigidBody::getOrientation() const |