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| author | PouleyKetchoupp <pouleyketchoup@gmail.com> | 2020-04-27 10:15:23 +0200 |
|---|---|---|
| committer | PouleyKetchoupp <pouleyketchoup@gmail.com> | 2020-04-27 11:37:47 +0200 |
| commit | 3e7db60d56d5c25d7aa3fded4b90f36ca341159c (patch) | |
| tree | 33d0aa97c6f4dde686449fc66bb9755a8bc52fb3 /thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp | |
| parent | 43f0767390cabd337b31cf777fa5c04251c68fbc (diff) | |
| download | redot-engine-3e7db60d56d5c25d7aa3fded4b90f36ca341159c.tar.gz | |
Update to bullet master (2.90)
Diffstat (limited to 'thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp')
| -rw-r--r-- | thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp | 5 |
1 files changed, 4 insertions, 1 deletions
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp index 93626f18ff..74a13c6249 100644 --- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp +++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp @@ -876,7 +876,10 @@ int btGeneric6DofSpring2Constraint::get_limit_motor_info2( // will we not request a velocity with the wrong direction ? // and the answer is not, because in practice during the solving the current velocity is subtracted from the m_constraintError // so the sign of the force that is really matters - info->m_constraintError[srow] = (rotational ? -1 : 1) * (f < 0 ? -SIMD_INFINITY : SIMD_INFINITY); + if (m_flags & BT_6DOF_FLAGS_USE_INFINITE_ERROR) + info->m_constraintError[srow] = (rotational ? -1 : 1) * (f < 0 ? -SIMD_INFINITY : SIMD_INFINITY); + else + info->m_constraintError[srow] = vel + f / m * (rotational ? -1 : 1); btScalar minf = f < fd ? f : fd; btScalar maxf = f < fd ? fd : f; |