diff options
Diffstat (limited to 'thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp')
| -rw-r--r-- | thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp | 5 |
1 files changed, 3 insertions, 2 deletions
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp index 1ba5861145..00d5fd5609 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp @@ -61,7 +61,8 @@ btScalar btMultiBodyConstraint::fillMultiBodyConstraint(btMultiBodySolverConstra btScalar lowerLimit, btScalar upperLimit, bool angConstraint, btScalar relaxation, - bool isFriction, btScalar desiredVelocity, btScalar cfmSlip) + bool isFriction, btScalar desiredVelocity, btScalar cfmSlip, + btScalar damping) { solverConstraint.m_multiBodyA = m_bodyA; solverConstraint.m_multiBodyB = m_bodyB; @@ -348,7 +349,7 @@ btScalar btMultiBodyConstraint::fillMultiBodyConstraint(btMultiBodySolverConstra { btScalar positionalError = 0.f; - btScalar velocityError = desiredVelocity - rel_vel; // * damping; + btScalar velocityError = (desiredVelocity - rel_vel) * damping; btScalar erp = infoGlobal.m_erp2; |