AuroraMiddleware/bullet3
1
0
Fork 0
mirror of https://github.com/bulletphysics/bullet3 synced 2024-12-14 22:00:05 +00:00
Code Issues Releases Wiki Activity

add velocity clamp to prevent deformable objects from going too fast

Browse Source
This commit is contained in:
Xuchen Han 2019-08-19 12:02:57 -07:00
parent 54bd93aad2
commit 04595961cd
1 changed files with 13 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

13
src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp
View File

@ -153,6 +153,19 @@ void btDeformableMultiBodyDynamicsWorld::integrateTransforms(btScalar timeStep)
for (int j = 0; j < psb->m_nodes.size(); ++j)
{
btSoftBody::Node& node = psb->m_nodes[j];
btScalar maxDisplacement = psb->getWorldInfo()->m_maxDisplacement;
btScalar clampDeltaV = maxDisplacement / timeStep;
for (int c = 0; c < 3; c++)
{
if (node.m_v[c] > clampDeltaV)
{
node.m_v[c] = clampDeltaV;
}
if (node.m_v[c] < -clampDeltaV)
{
node.m_v[c] = -clampDeltaV;
}
}
node.m_x = node.m_q + timeStep * node.m_v;
}
}