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Merge pull request #3090 from ErikGartner/master

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Revert 32277c
This commit is contained in:
erwincoumans
2020-11-25 09:25:46 -08:00
committed by GitHub
parent 5fd3e33c86 777ab5a5ab
commit 272c7099d3
1 changed files with 13 additions and 20 deletions
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33
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -1616,13 +1616,6 @@ struct PhysicsServerCommandProcessorInternalData
btScalar m_physicsDeltaTime;
btScalar m_numSimulationSubSteps;
btScalar getDeltaTimeSubStep() const
{
btScalar deltaTimeSubStep = m_numSimulationSubSteps > 0 ? m_physicsDeltaTime / m_numSimulationSubSteps : m_physicsDeltaTime;
return deltaTimeSubStep;
}
btScalar m_simulationTimestamp;
btAlignedObjectArray<btMultiBodyJointFeedback*> m_multiBodyJointFeedbacks;
b3HashMap<btHashPtr, btInverseDynamics::MultiBodyTree*> m_inverseDynamicsBodies;
@@ -6996,10 +6989,10 @@ bool PhysicsServerCommandProcessor::processSendDesiredStateCommand(const struct
//disable velocity clamp in velocity mode
motor->setRhsClamp(SIMD_INFINITY);
btScalar maxImp = 1000000.f * m_data->getDeltaTimeSubStep();
btScalar maxImp = 1000000.f * m_data->m_physicsDeltaTime;
if ((clientCmd.m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[dofIndex] & SIM_DESIRED_STATE_HAS_MAX_FORCE) != 0)
{
maxImp = clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[dofIndex] * m_data->getDeltaTimeSubStep();
maxImp = clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[dofIndex] * m_data->m_physicsDeltaTime;
}
motor->setMaxAppliedImpulse(maxImp);
}
@@ -7079,10 +7072,10 @@ bool PhysicsServerCommandProcessor::processSendDesiredStateCommand(const struct
}
motor->setPositionTarget(desiredPosition, kp);
btScalar maxImp = 1000000.f * m_data->getDeltaTimeSubStep();
btScalar maxImp = 1000000.f * m_data->m_physicsDeltaTime;
if ((clientCmd.m_updateFlags & SIM_DESIRED_STATE_HAS_MAX_FORCE) != 0)
maxImp = clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[velIndex] * m_data->getDeltaTimeSubStep();
maxImp = clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[velIndex] * m_data->m_physicsDeltaTime;
motor->setMaxAppliedImpulse(maxImp);
}
@@ -7147,10 +7140,10 @@ bool PhysicsServerCommandProcessor::processSendDesiredStateCommand(const struct
//}
motor->setPositionTarget(desiredPosition, kp);
btScalar maxImp = 1000000.f * m_data->getDeltaTimeSubStep();
btScalar maxImp = 1000000.f * m_data->m_physicsDeltaTime;
if ((clientCmd.m_updateFlags & SIM_DESIRED_STATE_HAS_MAX_FORCE) != 0)
maxImp = clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[velIndex] * m_data->getDeltaTimeSubStep();
maxImp = clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[velIndex] * m_data->m_physicsDeltaTime;
motor->setMaxAppliedImpulse(maxImp);
}
@@ -7261,7 +7254,7 @@ bool PhysicsServerCommandProcessor::processSendDesiredStateCommand(const struct
Eigen::MatrixXd M = rbdModel->GetMassMat();
//rbdModel->UpdateBiasForce();
const Eigen::VectorXd& C = rbdModel->GetBiasForce();
M.diagonal() += m_data->getDeltaTimeSubStep() * mKd;
M.diagonal() += m_data->m_physicsDeltaTime * mKd;
Eigen::VectorXd pose_inc;
@@ -7663,7 +7656,7 @@ bool PhysicsServerCommandProcessor::processRequestActualStateCommand(const struc
if (motor)
{
btScalar impulse = motor->getAppliedImpulse(d);
btScalar force = impulse / m_data->getDeltaTimeSubStep();
btScalar force = impulse / m_data->m_physicsDeltaTime;
stateDetails->m_jointMotorForceMultiDof[totalDegreeOfFreedomU] = force;
}
}
@@ -7675,7 +7668,7 @@ bool PhysicsServerCommandProcessor::processRequestActualStateCommand(const struc
if (motor && m_data->m_physicsDeltaTime > btScalar(0))
{
btScalar force = motor->getAppliedImpulse(0) / m_data->getDeltaTimeSubStep();
btScalar force = motor->getAppliedImpulse(0) / m_data->m_physicsDeltaTime;
stateDetails->m_jointMotorForceMultiDof[totalDegreeOfFreedomU] = force;
}
}
@@ -7713,7 +7706,7 @@ bool PhysicsServerCommandProcessor::processRequestActualStateCommand(const struc
if (motor && m_data->m_physicsDeltaTime > btScalar(0))
{
btScalar force = motor->getAppliedImpulse(0) / m_data->getDeltaTimeSubStep();
btScalar force = motor->getAppliedImpulse(0) / m_data->m_physicsDeltaTime;
stateDetails->m_jointMotorForce[l] =
force;
//if (force>0)
@@ -8014,9 +8007,9 @@ bool PhysicsServerCommandProcessor::processRequestContactpointInformationCommand
pt.m_positionOnBInWS[j] = srcPt.getPositionWorldOnB()[j];
}
}
pt.m_normalForce = srcPt.getAppliedImpulse() / m_data->getDeltaTimeSubStep();
pt.m_linearFrictionForce1 = srcPt.m_appliedImpulseLateral1 / m_data->getDeltaTimeSubStep();
pt.m_linearFrictionForce2 = srcPt.m_appliedImpulseLateral2 / m_data->getDeltaTimeSubStep();
pt.m_normalForce = srcPt.getAppliedImpulse() / m_data->m_physicsDeltaTime;
pt.m_linearFrictionForce1 = srcPt.m_appliedImpulseLateral1 / m_data->m_physicsDeltaTime;
pt.m_linearFrictionForce2 = srcPt.m_appliedImpulseLateral2 / m_data->m_physicsDeltaTime;
for (int j = 0; j < 3; j++)
{
pt.m_linearFrictionDirection1[j] = srcPt.m_lateralFrictionDir1[j];