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Diffstat (limited to 'thirdparty/bullet/BulletDynamics/Dynamics/btRigidBody.h')
-rw-r--r--thirdparty/bullet/BulletDynamics/Dynamics/btRigidBody.h43
1 files changed, 42 insertions, 1 deletions
diff --git a/thirdparty/bullet/BulletDynamics/Dynamics/btRigidBody.h b/thirdparty/bullet/BulletDynamics/Dynamics/btRigidBody.h
index 39d47cbbda..943d724cce 100644
--- a/thirdparty/bullet/BulletDynamics/Dynamics/btRigidBody.h
+++ b/thirdparty/bullet/BulletDynamics/Dynamics/btRigidBody.h
@@ -305,6 +305,9 @@ public:
void applyTorque(const btVector3& torque)
{
m_totalTorque += torque * m_angularFactor;
+ #if defined(BT_CLAMP_VELOCITY_TO) && BT_CLAMP_VELOCITY_TO > 0
+ clampVelocity(m_totalTorque);
+ #endif
}
void applyForce(const btVector3& force, const btVector3& rel_pos)
@@ -316,11 +319,17 @@ public:
void applyCentralImpulse(const btVector3& impulse)
{
m_linearVelocity += impulse * m_linearFactor * m_inverseMass;
+ #if defined(BT_CLAMP_VELOCITY_TO) && BT_CLAMP_VELOCITY_TO > 0
+ clampVelocity(m_linearVelocity);
+ #endif
}
void applyTorqueImpulse(const btVector3& torque)
{
m_angularVelocity += m_invInertiaTensorWorld * torque * m_angularFactor;
+ #if defined(BT_CLAMP_VELOCITY_TO) && BT_CLAMP_VELOCITY_TO > 0
+ clampVelocity(m_angularVelocity);
+ #endif
}
void applyImpulse(const btVector3& impulse, const btVector3& rel_pos)
@@ -361,20 +370,46 @@ public:
{
m_pushVelocity = v;
}
-
+
+ #if defined(BT_CLAMP_VELOCITY_TO) && BT_CLAMP_VELOCITY_TO > 0
+ void clampVelocity(btVector3& v) const {
+ v.setX(
+ fmax(-BT_CLAMP_VELOCITY_TO,
+ fmin(BT_CLAMP_VELOCITY_TO, v.getX()))
+ );
+ v.setY(
+ fmax(-BT_CLAMP_VELOCITY_TO,
+ fmin(BT_CLAMP_VELOCITY_TO, v.getY()))
+ );
+ v.setZ(
+ fmax(-BT_CLAMP_VELOCITY_TO,
+ fmin(BT_CLAMP_VELOCITY_TO, v.getZ()))
+ );
+ }
+ #endif
+
void setTurnVelocity(const btVector3& v)
{
m_turnVelocity = v;
+ #if defined(BT_CLAMP_VELOCITY_TO) && BT_CLAMP_VELOCITY_TO > 0
+ clampVelocity(m_turnVelocity);
+ #endif
}
void applyCentralPushImpulse(const btVector3& impulse)
{
m_pushVelocity += impulse * m_linearFactor * m_inverseMass;
+ #if defined(BT_CLAMP_VELOCITY_TO) && BT_CLAMP_VELOCITY_TO > 0
+ clampVelocity(m_pushVelocity);
+ #endif
}
void applyTorqueTurnImpulse(const btVector3& torque)
{
m_turnVelocity += m_invInertiaTensorWorld * torque * m_angularFactor;
+ #if defined(BT_CLAMP_VELOCITY_TO) && BT_CLAMP_VELOCITY_TO > 0
+ clampVelocity(m_turnVelocity);
+ #endif
}
void clearForces()
@@ -408,12 +443,18 @@ public:
{
m_updateRevision++;
m_linearVelocity = lin_vel;
+ #if defined(BT_CLAMP_VELOCITY_TO) && BT_CLAMP_VELOCITY_TO > 0
+ clampVelocity(m_linearVelocity);
+ #endif
}
inline void setAngularVelocity(const btVector3& ang_vel)
{
m_updateRevision++;
m_angularVelocity = ang_vel;
+ #if defined(BT_CLAMP_VELOCITY_TO) && BT_CLAMP_VELOCITY_TO > 0
+ clampVelocity(m_angularVelocity);
+ #endif
}
btVector3 getVelocityInLocalPoint(const btVector3& rel_pos) const