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Code Issues Releases Wiki Activity

Merge remote-tracking branch 'bp/master'

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This commit is contained in:
Erwin Coumans 2017-05-14 12:22:02 -07:00
commit 59ece491bd
5 changed files with 17 additions and 34 deletions
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4
src/Bullet3Dynamics/ConstraintSolver/b3Generic6DofConstraint.cpp
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@ -516,7 +516,7 @@ int b3Generic6DofConstraint::get_limit_motor_info2(
b3ConstraintInfo2 *info, int row, b3Vector3& ax1, int rotational,int rotAllowed)
{
int srow = row * info->rowskip;
int powered = limot->m_enableMotor;
bool powered = limot->m_enableMotor;
int limit = limot->m_currentLimit;
if (powered || limit)
{ // if the joint is powered, or has joint limits, add in the extra row
@ -584,7 +584,7 @@ int b3Generic6DofConstraint::get_limit_motor_info2(
}
// if we're limited low and high simultaneously, the joint motor is
// ineffective
if (limit && (limot->m_loLimit == limot->m_hiLimit)) powered = 0;
if (limit && (limot->m_loLimit == limot->m_hiLimit)) powered = false;
info->m_constraintError[srow] = b3Scalar(0.f);
if (powered)
{

4
src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
View File

@ -776,7 +776,7 @@ int btGeneric6DofConstraint::get_limit_motor_info2(
btConstraintInfo2 *info, int row, btVector3& ax1, int rotational,int rotAllowed)
{
int srow = row * info->rowskip;
int powered = limot->m_enableMotor;
bool powered = limot->m_enableMotor;
int limit = limot->m_currentLimit;
if (powered || limit)
{ // if the joint is powered, or has joint limits, add in the extra row
@ -840,7 +840,7 @@ int btGeneric6DofConstraint::get_limit_motor_info2(
}
// if we're limited low and high simultaneously, the joint motor is
// ineffective
if (limit && (limot->m_loLimit == limot->m_hiLimit)) powered = 0;
if (limit && (limot->m_loLimit == limot->m_hiLimit)) powered = false;
info->m_constraintError[srow] = btScalar(0.f);
if (powered)
{

20
src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp
View File

@ -556,12 +556,8 @@ void btHingeConstraint::getInfo2Internal(btConstraintInfo2* info, const btTransf
}
// if the hinge has joint limits or motor, add in the extra row
int powered = 0;
if(getEnableAngularMotor())
{
powered = 1;
}
if(limit || powered)
bool powered = getEnableAngularMotor();
if(limit || powered)
{
nrow++;
srow = nrow * info->rowskip;
@ -577,7 +573,7 @@ void btHingeConstraint::getInfo2Internal(btConstraintInfo2* info, const btTransf
btScalar histop = getUpperLimit();
if(limit && (lostop == histop))
{ // the joint motor is ineffective
powered = 0;
powered = false;
}
info->m_constraintError[srow] = btScalar(0.0f);
btScalar currERP = (m_flags & BT_HINGE_FLAGS_ERP_STOP) ? m_stopERP : normalErp;
@ -951,12 +947,8 @@ void btHingeConstraint::getInfo2InternalUsingFrameOffset(btConstraintInfo2* info
}
// if the hinge has joint limits or motor, add in the extra row
int powered = 0;
if(getEnableAngularMotor())
{
powered = 1;
}
if(limit || powered)
bool powered = getEnableAngularMotor();
if(limit || powered)
{
nrow++;
srow = nrow * info->rowskip;
@ -972,7 +964,7 @@ void btHingeConstraint::getInfo2InternalUsingFrameOffset(btConstraintInfo2* info
btScalar histop = getUpperLimit();
if(limit && (lostop == histop))
{ // the joint motor is ineffective
powered = 0;
powered = false;
}
info->m_constraintError[srow] = btScalar(0.0f);
btScalar currERP = (m_flags & BT_HINGE_FLAGS_ERP_STOP) ? m_stopERP : normalErp;

2
src/BulletDynamics/ConstraintSolver/btHingeConstraint.h
View File

@ -314,7 +314,7 @@ public:
{
return m_enableAngularMotor;
}
inline btScalar getMotorTargetVelosity()
inline btScalar getMotorTargetVelocity()
{
return m_motorTargetVelocity;
}

21
src/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp
View File

@ -364,7 +364,6 @@ void btSliderConstraint::getInfo2NonVirtual(btConstraintInfo2* info, const btTra
int srow;
btScalar limit_err;
int limit;
int powered;
// next two rows.
// we want: velA + wA x relA == velB + wB x relB ... but this would
@ -470,13 +469,9 @@ void btSliderConstraint::getInfo2NonVirtual(btConstraintInfo2* info, const btTra
limit_err = getLinDepth() * signFact;
limit = (limit_err > btScalar(0.0)) ? 2 : 1;
}
powered = 0;
if(getPoweredLinMotor())
{
powered = 1;
}
bool powered = getPoweredLinMotor();
// if the slider has joint limits or motor, add in the extra row
if (limit || powered)
if (limit || powered)
{
nrow++;
srow = nrow * info->rowskip;
@ -524,7 +519,7 @@ void btSliderConstraint::getInfo2NonVirtual(btConstraintInfo2* info, const btTra
btScalar histop = getUpperLinLimit();
if(limit && (lostop == histop))
{ // the joint motor is ineffective
powered = 0;
powered = false;
}
info->m_constraintError[srow] = 0.;
info->m_lowerLimit[srow] = 0.;
@ -609,12 +604,8 @@ void btSliderConstraint::getInfo2NonVirtual(btConstraintInfo2* info, const btTra
limit = (limit_err > btScalar(0.0)) ? 1 : 2;
}
// if the slider has joint limits, add in the extra row
powered = 0;
if(getPoweredAngMotor())
{
powered = 1;
}
if(limit || powered)
powered = getPoweredAngMotor();
if(limit || powered)
{
nrow++;
srow = nrow * info->rowskip;
@ -630,7 +621,7 @@ void btSliderConstraint::getInfo2NonVirtual(btConstraintInfo2* info, const btTra
btScalar histop = getUpperAngLimit();
if(limit && (lostop == histop))
{ // the joint motor is ineffective
powered = 0;
powered = false;
}
currERP = (m_flags & BT_SLIDER_FLAGS_ERP_LIMANG) ? m_softnessLimAng : info->erp;
if(powered)