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https://github.com/bulletphysics/bullet3
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Some optimizations for btMultiBodyJointMotor (skip constraint generation if maxImpulse/maxForce = 0) and
skip constraint row generation if joint limit is not violated.
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@ -110,7 +110,13 @@ void btMultiBodyJointLimitConstraint::createConstraintRows(btMultiBodyConstraint
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for (int row=0;row<getNumRows();row++)
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{
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btScalar penetration = getPosition(row);
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//todo: consider adding some safety threshold here
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if (penetration>0)
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{
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continue;
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}
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btScalar direction = row? -1 : 1;
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btMultiBodySolverConstraint& constraintRow = constraintRows.expandNonInitializing();
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@ -158,7 +164,7 @@ void btMultiBodyJointLimitConstraint::createConstraintRows(btMultiBodyConstraint
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}
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{
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btScalar penetration = getPosition(row);
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btScalar positionalError = 0.f;
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btScalar velocityError = - rel_vel;// * damping;
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btScalar erp = infoGlobal.m_erp2;
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@ -117,6 +117,9 @@ void btMultiBodyJointMotor::createConstraintRows(btMultiBodyConstraintArray& con
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if (m_numDofsFinalized != m_jacSizeBoth)
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return;
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if (m_maxAppliedImpulse==0.f)
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return;
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const btScalar posError = 0;
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const btVector3 dummy(0, 0, 0);
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