git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@301 92aac97c-a6ce-11dd-a772-7fcde58d38e6
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@ -25,8 +25,8 @@ using namespace reactphysics3d;
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// Constructor
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// Constructor
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Constraint::Constraint(Body* const body1, Body* const body2, unsigned int nbAuxConstraints, bool active)
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Constraint::Constraint(Body* const body1, Body* const body2, unsigned int nbAuxConstraints, bool active)
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:body1(body1), body2(body2), active(true), nbAuxConstraints(nbAuxConstraints),
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:body1(body1), body2(body2), active(active), nbAuxConstraints(nbAuxConstraints),
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lowerBound(lowerBound), upperBound(upperBound), active(active) {
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lowerBound(lowerBound), upperBound(upperBound) {
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}
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}
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@ -54,8 +54,8 @@ void Contact::evaluate() {
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// Compute the friction vectors that span the tangential friction plane
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// Compute the friction vectors that span the tangential friction plane
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computeFrictionVectors();
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computeFrictionVectors();
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Vector3D r1 = point - rigidBody1.getCurrentBodyState().getPosition();
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Vector3D r1 = point - rigidBody1->getCurrentBodyState().getPosition();
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Vector3D r2 = point - rigidBody2.getCurrentBodyState().getPosition();
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Vector3D r2 = point - rigidBody2->getCurrentBodyState().getPosition();
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Vector3D r1CrossN = r1.crossProduct(normal);
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Vector3D r1CrossN = r1.crossProduct(normal);
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Vector3D r2CrossN = r2.crossProduct(normal);
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Vector3D r2CrossN = r2.crossProduct(normal);
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@ -115,15 +115,15 @@ void Contact::evaluate() {
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// Compute the auxiliary lower and upper bounds
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// Compute the auxiliary lower and upper bounds
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// TODO : Now mC is only the mass of the first body but it is probably wrong
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// TODO : Now mC is only the mass of the first body but it is probably wrong
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// TODO : Now g is 9.81 but we should use the true gravity value of the physics world.
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// TODO : Now g is 9.81 but we should use the true gravity value of the physics world.
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double mu_mc_g = FRICTION_COEFFICIENT * rigidBody1.getMass().getValue() * 9.81;
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double mu_mc_g = FRICTION_COEFFICIENT * rigidBody1->getMass().getValue() * 9.81;
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auxLowerBounds.setValue(0, 0, -mu_mc_g);
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auxLowerBounds.setValue(0, -mu_mc_g);
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auxLowerBounds.setValue(1, 0, -mu_mc_g);
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auxLowerBounds.setValue(1, -mu_mc_g);
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auxUpperBounds.setValue(0, 0, mu_mc_g);
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auxUpperBounds.setValue(0, mu_mc_g);
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auxUpperBounds.setValue(1, 0, mu_mc_g);
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auxUpperBounds.setValue(1, mu_mc_g);
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// Compute the error auxiliary values
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// Compute the error auxiliary values
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auxErrorValues.setValue(0, 0, 0.0);
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auxErrorValues.setValue(0, 0.0);
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auxErrorValues.setValue(1, 0, 0.0);
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auxErrorValues.setValue(1, 0.0);
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;}
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;}
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// TODO : Delete this (Used to debug collision detection)
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// TODO : Delete this (Used to debug collision detection)
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