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Revert "in case of substeps use the compensated delta time / numSubSteps to convert between force and impulse."

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This reverts commit 32277c7bd5.
This commit is contained in:
Erik Gärtner 2020-10-02 15:49:23 +02:00
parent b12da620ab
commit 777ab5a5ab
1 changed files with 13 additions and 20 deletions
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33
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@ -1616,13 +1616,6 @@ struct PhysicsServerCommandProcessorInternalData
btScalar m_physicsDeltaTime;
btScalar m_numSimulationSubSteps;
btScalar getDeltaTimeSubStep() const
{
btScalar deltaTimeSubStep = m_numSimulationSubSteps > 0 ? m_physicsDeltaTime / m_numSimulationSubSteps : m_physicsDeltaTime;
return deltaTimeSubStep;
}
btScalar m_simulationTimestamp;
btAlignedObjectArray<btMultiBodyJointFeedback*> m_multiBodyJointFeedbacks;
b3HashMap<btHashPtr, btInverseDynamics::MultiBodyTree*> m_inverseDynamicsBodies;
@ -6967,10 +6960,10 @@ bool PhysicsServerCommandProcessor::processSendDesiredStateCommand(const struct
//disable velocity clamp in velocity mode
motor->setRhsClamp(SIMD_INFINITY);
btScalar maxImp = 1000000.f * m_data->getDeltaTimeSubStep();
btScalar maxImp = 1000000.f * m_data->m_physicsDeltaTime;
if ((clientCmd.m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[dofIndex] & SIM_DESIRED_STATE_HAS_MAX_FORCE) != 0)
{
maxImp = clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[dofIndex] * m_data->getDeltaTimeSubStep();
maxImp = clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[dofIndex] * m_data->m_physicsDeltaTime;
}
motor->setMaxAppliedImpulse(maxImp);
}
@ -7050,10 +7043,10 @@ bool PhysicsServerCommandProcessor::processSendDesiredStateCommand(const struct
}
motor->setPositionTarget(desiredPosition, kp);
btScalar maxImp = 1000000.f * m_data->getDeltaTimeSubStep();
btScalar maxImp = 1000000.f * m_data->m_physicsDeltaTime;
if ((clientCmd.m_updateFlags & SIM_DESIRED_STATE_HAS_MAX_FORCE) != 0)
maxImp = clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[velIndex] * m_data->getDeltaTimeSubStep();
maxImp = clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[velIndex] * m_data->m_physicsDeltaTime;
motor->setMaxAppliedImpulse(maxImp);
}
@ -7118,10 +7111,10 @@ bool PhysicsServerCommandProcessor::processSendDesiredStateCommand(const struct
//}
motor->setPositionTarget(desiredPosition, kp);
btScalar maxImp = 1000000.f * m_data->getDeltaTimeSubStep();
btScalar maxImp = 1000000.f * m_data->m_physicsDeltaTime;
if ((clientCmd.m_updateFlags & SIM_DESIRED_STATE_HAS_MAX_FORCE) != 0)
maxImp = clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[velIndex] * m_data->getDeltaTimeSubStep();
maxImp = clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[velIndex] * m_data->m_physicsDeltaTime;
motor->setMaxAppliedImpulse(maxImp);
}
@ -7232,7 +7225,7 @@ bool PhysicsServerCommandProcessor::processSendDesiredStateCommand(const struct
Eigen::MatrixXd M = rbdModel->GetMassMat();
//rbdModel->UpdateBiasForce();
const Eigen::VectorXd& C = rbdModel->GetBiasForce();
M.diagonal() += m_data->getDeltaTimeSubStep() * mKd;
M.diagonal() += m_data->m_physicsDeltaTime * mKd;
Eigen::VectorXd pose_inc;
@ -7634,7 +7627,7 @@ bool PhysicsServerCommandProcessor::processRequestActualStateCommand(const struc
if (motor)
{
btScalar impulse = motor->getAppliedImpulse(d);
btScalar force = impulse / m_data->getDeltaTimeSubStep();
btScalar force = impulse / m_data->m_physicsDeltaTime;
stateDetails->m_jointMotorForceMultiDof[totalDegreeOfFreedomU] = force;
}
}
@ -7646,7 +7639,7 @@ bool PhysicsServerCommandProcessor::processRequestActualStateCommand(const struc
if (motor && m_data->m_physicsDeltaTime > btScalar(0))
{
btScalar force = motor->getAppliedImpulse(0) / m_data->getDeltaTimeSubStep();
btScalar force = motor->getAppliedImpulse(0) / m_data->m_physicsDeltaTime;
stateDetails->m_jointMotorForceMultiDof[totalDegreeOfFreedomU] = force;
}
}
@ -7684,7 +7677,7 @@ bool PhysicsServerCommandProcessor::processRequestActualStateCommand(const struc
if (motor && m_data->m_physicsDeltaTime > btScalar(0))
{
btScalar force = motor->getAppliedImpulse(0) / m_data->getDeltaTimeSubStep();
btScalar force = motor->getAppliedImpulse(0) / m_data->m_physicsDeltaTime;
stateDetails->m_jointMotorForce[l] =
force;
//if (force>0)
@ -7985,9 +7978,9 @@ bool PhysicsServerCommandProcessor::processRequestContactpointInformationCommand
pt.m_positionOnBInWS[j] = srcPt.getPositionWorldOnB()[j];
}
}
pt.m_normalForce = srcPt.getAppliedImpulse() / m_data->getDeltaTimeSubStep();
pt.m_linearFrictionForce1 = srcPt.m_appliedImpulseLateral1 / m_data->getDeltaTimeSubStep();
pt.m_linearFrictionForce2 = srcPt.m_appliedImpulseLateral2 / m_data->getDeltaTimeSubStep();
pt.m_normalForce = srcPt.getAppliedImpulse() / m_data->m_physicsDeltaTime;
pt.m_linearFrictionForce1 = srcPt.m_appliedImpulseLateral1 / m_data->m_physicsDeltaTime;
pt.m_linearFrictionForce2 = srcPt.m_appliedImpulseLateral2 / m_data->m_physicsDeltaTime;
for (int j = 0; j < 3; j++)
{
pt.m_linearFrictionDirection1[j] = srcPt.m_lateralFrictionDir1[j];