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Merge pull request #39084 from madmiraal/backport-37314

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[3.2] Better damping implementation for Bullet rigid bodies
This commit is contained in:
Rémi Verschelde
2020-07-02 13:26:03 +02:00
committed by GitHub
parent 3247ac4b0e 5d8b0649be
commit 44a516986d
6 changed files with 80 additions and 28 deletions
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34
thirdparty/bullet/0001-old-damping-def.patch vendored Normal file
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@ -0,0 +1,34 @@
diff --git a/thirdparty/bullet/BulletDynamics/Dynamics/btRigidBody.cpp b/thirdparty/bullet/BulletDynamics/Dynamics/btRigidBody.cpp
index 9e8705b001..f1b50b39c8 100644
--- a/thirdparty/bullet/BulletDynamics/Dynamics/btRigidBody.cpp
+++ b/thirdparty/bullet/BulletDynamics/Dynamics/btRigidBody.cpp
@@ -136,8 +136,13 @@ void btRigidBody::setGravity(const btVector3& acceleration)
void btRigidBody::setDamping(btScalar lin_damping, btScalar ang_damping)
{
- m_linearDamping = btClamped(lin_damping, (btScalar)btScalar(0.0), (btScalar)btScalar(1.0));
- m_angularDamping = btClamped(ang_damping, (btScalar)btScalar(0.0), (btScalar)btScalar(1.0));
+#ifdef BT_USE_OLD_DAMPING_METHOD
+ m_linearDamping = btMax(lin_damping, btScalar(0.0));
+ m_angularDamping = btMax(ang_damping, btScalar(0.0));
+#else
+ m_linearDamping = btClamped(lin_damping, btScalar(0.0), btScalar(1.0));
+ m_angularDamping = btClamped(ang_damping, btScalar(0.0), btScalar(1.0));
+#endif
}
///applyDamping damps the velocity, using the given m_linearDamping and m_angularDamping
@@ -146,10 +151,9 @@ void btRigidBody::applyDamping(btScalar timeStep)
//On new damping: see discussion/issue report here: http://code.google.com/p/bullet/issues/detail?id=74
//todo: do some performance comparisons (but other parts of the engine are probably bottleneck anyway
-//#define USE_OLD_DAMPING_METHOD 1
-#ifdef USE_OLD_DAMPING_METHOD
- m_linearVelocity *= GEN_clamped((btScalar(1.) - timeStep * m_linearDamping), (btScalar)btScalar(0.0), (btScalar)btScalar(1.0));
- m_angularVelocity *= GEN_clamped((btScalar(1.) - timeStep * m_angularDamping), (btScalar)btScalar(0.0), (btScalar)btScalar(1.0));
+#ifdef BT_USE_OLD_DAMPING_METHOD
+ m_linearVelocity *= btMax((btScalar(1.0) - timeStep * m_linearDamping), btScalar(0.0));
+ m_angularVelocity *= btMax((btScalar(1.0) - timeStep * m_angularDamping), btScalar(0.0));
#else
m_linearVelocity *= btPow(btScalar(1) - m_linearDamping, timeStep);
m_angularVelocity *= btPow(btScalar(1) - m_angularDamping, timeStep);

16
thirdparty/bullet/BulletDynamics/Dynamics/btRigidBody.cpp vendored
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@ -136,8 +136,13 @@ void btRigidBody::setGravity(const btVector3& acceleration)
void btRigidBody::setDamping(btScalar lin_damping, btScalar ang_damping)
{
m_linearDamping = btClamped(lin_damping, (btScalar)btScalar(0.0), (btScalar)btScalar(1.0));
m_angularDamping = btClamped(ang_damping, (btScalar)btScalar(0.0), (btScalar)btScalar(1.0));
#ifdef BT_USE_OLD_DAMPING_METHOD
m_linearDamping = btMax(lin_damping, btScalar(0.0));
m_angularDamping = btMax(ang_damping, btScalar(0.0));
#else
m_linearDamping = btClamped(lin_damping, btScalar(0.0), btScalar(1.0));
m_angularDamping = btClamped(ang_damping, btScalar(0.0), btScalar(1.0));
#endif
}
///applyDamping damps the velocity, using the given m_linearDamping and m_angularDamping
@ -146,10 +151,9 @@ void btRigidBody::applyDamping(btScalar timeStep)
//On new damping: see discussion/issue report here: http://code.google.com/p/bullet/issues/detail?id=74
//todo: do some performance comparisons (but other parts of the engine are probably bottleneck anyway
//#define USE_OLD_DAMPING_METHOD 1
#ifdef USE_OLD_DAMPING_METHOD
m_linearVelocity *= GEN_clamped((btScalar(1.) - timeStep * m_linearDamping), (btScalar)btScalar(0.0), (btScalar)btScalar(1.0));
m_angularVelocity *= GEN_clamped((btScalar(1.) - timeStep * m_angularDamping), (btScalar)btScalar(0.0), (btScalar)btScalar(1.0));
#ifdef BT_USE_OLD_DAMPING_METHOD
m_linearVelocity *= btMax((btScalar(1.0) - timeStep * m_linearDamping), btScalar(0.0));
m_angularVelocity *= btMax((btScalar(1.0) - timeStep * m_angularDamping), btScalar(0.0));
#else
m_linearVelocity *= btPow(btScalar(1) - m_linearDamping, timeStep);
m_angularVelocity *= btPow(btScalar(1) - m_angularDamping, timeStep);