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Fix compilation error on Mac OS X and errors in SliderJoint and HingeJoint

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This commit is contained in:
Daniel Chappuis 2013-09-30 23:34:47 +02:00
parent 8ff0d9753c
commit 3173b368c7
4 changed files with 32 additions and 22 deletions
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2
examples/joints/Scene.cpp
View File

@ -127,7 +127,7 @@ void Scene::simulate() {
if (mIsRunning) {
// Update the motor speed of the Slider Joint (to move up and down)
long double motorSpeed = 3 * cos(mDynamicsWorld->getPhysicsTime() * 1.5);
long double motorSpeed = 2 * cos(mDynamicsWorld->getPhysicsTime() * 1.5);
mSliderJoint->setMotorSpeed(rp3d::decimal(motorSpeed));
// Take a simulation step

27
src/constraint/HingeJoint.cpp
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@ -194,9 +194,10 @@ void HingeJoint::initBeforeSolve(const ConstraintSolverData& constraintSolverDat
mImpulseMotor = 0.0;
}
if (mIsLimitEnabled && (mIsLowerLimitViolated || mIsUpperLimitViolated)) {
// If the motor or limits are enabled
if (mIsMotorEnabled || (mIsLimitEnabled && (mIsLowerLimitViolated || mIsUpperLimitViolated))) {
// Compute the inverse of the mass matrix K=JM^-1J^t for the limits (1x1 matrix)
// Compute the inverse of the mass matrix K=JM^-1J^t for the limits and motor (1x1 matrix)
mInverseMassMatrixLimitMotor = 0.0;
if (mBody1->isMotionEnabled()) {
mInverseMassMatrixLimitMotor += mA1.dot(mI1 * mA1);
@ -207,16 +208,19 @@ void HingeJoint::initBeforeSolve(const ConstraintSolverData& constraintSolverDat
mInverseMassMatrixLimitMotor = (mInverseMassMatrixLimitMotor > 0.0) ?
decimal(1.0) / mInverseMassMatrixLimitMotor : decimal(0.0);
// Compute the bias "b" of the lower limit constraint
mBLowerLimit = 0.0;
if (mPositionCorrectionTechnique == BAUMGARTE_JOINTS) {
mBLowerLimit = biasFactor * lowerLimitError;
}
if (mIsLimitEnabled) {
// Compute the bias "b" of the upper limit constraint
mBUpperLimit = 0.0;
if (mPositionCorrectionTechnique == BAUMGARTE_JOINTS) {
mBUpperLimit = biasFactor * upperLimitError;
// Compute the bias "b" of the lower limit constraint
mBLowerLimit = 0.0;
if (mPositionCorrectionTechnique == BAUMGARTE_JOINTS) {
mBLowerLimit = biasFactor * lowerLimitError;
}
// Compute the bias "b" of the upper limit constraint
mBUpperLimit = 0.0;
if (mPositionCorrectionTechnique == BAUMGARTE_JOINTS) {
mBUpperLimit = biasFactor * upperLimitError;
}
}
}
}
@ -423,6 +427,7 @@ void HingeJoint::solveVelocityConstraint(const ConstraintSolverData& constraintS
// --------------- Motor --------------- //
// If the motor is enabled
if (mIsMotorEnabled) {
// Compute J*v for the motor

23
src/constraint/SliderJoint.cpp
View File

@ -184,6 +184,7 @@ void SliderJoint::initBeforeSolve(const ConstraintSolverData& constraintSolverDa
mBRotation = biasFactor * decimal(2.0) * qError.getVectorV();
}
// If the limits are enabled
if (mIsLimitEnabled && (mIsLowerLimitViolated || mIsUpperLimitViolated)) {
// Compute the inverse of the mass matrix K=JM^-1J^t for the limits (1x1 matrix)
@ -212,16 +213,20 @@ void SliderJoint::initBeforeSolve(const ConstraintSolverData& constraintSolverDa
}
}
// Compute the inverse of mass matrix K=JM^-1J^t for the motor (1x1 matrix)
mInverseMassMatrixMotor = 0.0;
if (mBody1->isMotionEnabled()) {
mInverseMassMatrixMotor += mBody1->getMassInverse();
// If the motor is enabled
if (mIsMotorEnabled) {
// Compute the inverse of mass matrix K=JM^-1J^t for the motor (1x1 matrix)
mInverseMassMatrixMotor = 0.0;
if (mBody1->isMotionEnabled()) {
mInverseMassMatrixMotor += mBody1->getMassInverse();
}
if (mBody2->isMotionEnabled()) {
mInverseMassMatrixMotor += mBody2->getMassInverse();
}
mInverseMassMatrixMotor = (mInverseMassMatrixMotor > 0.0) ?
decimal(1.0) / mInverseMassMatrixMotor : decimal(0.0);
}
if (mBody2->isMotionEnabled()) {
mInverseMassMatrixMotor += mBody2->getMassInverse();
}
mInverseMassMatrixMotor = (mInverseMassMatrixMotor > 0.0) ?
decimal(1.0) / mInverseMassMatrixMotor : decimal(0.0);
// If warm-starting is not enabled
if (!constraintSolverData.isWarmStartingActive) {

2
src/engine/Profiler.cpp
View File

@ -232,7 +232,7 @@ void Profiler::printRecursiveNodeReport(ProfileNodeIterator* iterator,
(currentTotalTime / parentTime) * 100.0 : 0.0;
for (int j=0; j<spacing; j++) outputStream << " ";
outputStream << "| " << i << " -- " << iterator->getCurrentName() << " : " <<
fraction << " % | " << (currentTotalTime / long double(nbFrames)) <<
fraction << " % | " << (currentTotalTime / (long double) (nbFrames)) <<
" ms/frame (" << iterator->getCurrentNbTotalCalls() << " calls)" <<
std::endl;
totalTime += currentTotalTime;