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Merge pull request #295 from erwincoumans/master

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fix a problem in the btMultiBodyConstraint related to self-collision, se...
This commit is contained in:
erwincoumans 2014-12-09 16:58:11 -08:00
commit 366b2ef500
2 changed files with 9 additions and 26 deletions
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17
src/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp
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@ -229,26 +229,17 @@ btScalar btMultiBodyConstraint::fillMultiBodyConstraint( btMultiBodySolverConstr
vec = ( -solverConstraint.m_angularComponentB).cross(rel_pos2);
denom1 = rb1->getInvMass() + contactNormalOnB.dot(vec);
}
//determine the "effective mass" of the constrained multibodyB with respect to this 1D constraint (i.e. 1/A[i,i])
if (multiBodyA && (multiBodyA==multiBodyB))
{
// ndof1 == ndof2 in this case
for (int i = 0; i < ndofA; ++i)
{
denom1 += jacB[i] * deltaVelA[i];
denom1 += jacA[i] * deltaVelB[i];
}
}
//
btScalar d = denom0+denom1;
if (btFabs(d)>SIMD_EPSILON)
if (d>SIMD_EPSILON)
{
solverConstraint.m_jacDiagABInv = relaxation/(d);
}
else
{
solverConstraint.m_jacDiagABInv = 1.f;
//disable the constraint row to handle singularity/redundant constraint
solverConstraint.m_jacDiagABInv = 0.f;
}
}

18
src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp
View File

@ -402,24 +402,16 @@ void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySol
}
}
if (multiBodyA && (multiBodyA==multiBodyB))
{
// ndof1 == ndof2 in this case
for (int i = 0; i < ndofA; ++i)
{
denom1 += jacB[i] * lambdaA[i];
denom1 += jacA[i] * lambdaB[i];
}
}
btScalar d = denom0+denom1;
if (btFabs(d)>SIMD_EPSILON)
if (d>SIMD_EPSILON)
{
solverConstraint.m_jacDiagABInv = relaxation/(d);
solverConstraint.m_jacDiagABInv = relaxation/(d);
} else
{
solverConstraint.m_jacDiagABInv = 1.f;
//disable the constraint row to handle singularity/redundant constraint
solverConstraint.m_jacDiagABInv = 0.f;
}
}