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in case of substeps use the compensated delta time / numSubSteps to convert between force and impulse.

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This commit is contained in:
Erwin Coumans
2020-05-19 11:00:53 -07:00
parent b45a53311c
commit 32277c7bd5
1 changed files with 23 additions and 13 deletions
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36
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -1607,6 +1607,16 @@ 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;
@@ -6795,10 +6805,10 @@ bool PhysicsServerCommandProcessor::processSendDesiredStateCommand(const struct
//disable velocity clamp in velocity mode
motor->setRhsClamp(SIMD_INFINITY);
btScalar maxImp = 1000000.f * m_data->m_physicsDeltaTime;
btScalar maxImp = 1000000.f * m_data->getDeltaTimeSubStep();
if ((clientCmd.m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[dofIndex] & SIM_DESIRED_STATE_HAS_MAX_FORCE) != 0)
{
maxImp = clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[dofIndex] * m_data->m_physicsDeltaTime;
maxImp = clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[dofIndex] * m_data->getDeltaTimeSubStep();
}
motor->setMaxAppliedImpulse(maxImp);
}
@@ -6878,10 +6888,10 @@ bool PhysicsServerCommandProcessor::processSendDesiredStateCommand(const struct
}
motor->setPositionTarget(desiredPosition, kp);
btScalar maxImp = 1000000.f * m_data->m_physicsDeltaTime;
btScalar maxImp = 1000000.f * m_data->getDeltaTimeSubStep();
if ((clientCmd.m_updateFlags & SIM_DESIRED_STATE_HAS_MAX_FORCE) != 0)
maxImp = clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[velIndex] * m_data->m_physicsDeltaTime;
maxImp = clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[velIndex] * m_data->getDeltaTimeSubStep();
motor->setMaxAppliedImpulse(maxImp);
}
@@ -6946,10 +6956,10 @@ bool PhysicsServerCommandProcessor::processSendDesiredStateCommand(const struct
//}
motor->setPositionTarget(desiredPosition, kp);
btScalar maxImp = 1000000.f * m_data->m_physicsDeltaTime;
btScalar maxImp = 1000000.f * m_data->getDeltaTimeSubStep();
if ((clientCmd.m_updateFlags & SIM_DESIRED_STATE_HAS_MAX_FORCE) != 0)
maxImp = clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[velIndex] * m_data->m_physicsDeltaTime;
maxImp = clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[velIndex] * m_data->getDeltaTimeSubStep();
motor->setMaxAppliedImpulse(maxImp);
}
@@ -7060,7 +7070,7 @@ bool PhysicsServerCommandProcessor::processSendDesiredStateCommand(const struct
Eigen::MatrixXd M = rbdModel->GetMassMat();
//rbdModel->UpdateBiasForce();
const Eigen::VectorXd& C = rbdModel->GetBiasForce();
M.diagonal() += m_data->m_physicsDeltaTime * mKd;
M.diagonal() += m_data->getDeltaTimeSubStep() * mKd;
Eigen::VectorXd pose_inc;
@@ -7462,7 +7472,7 @@ bool PhysicsServerCommandProcessor::processRequestActualStateCommand(const struc
if (motor)
{
btScalar impulse = motor->getAppliedImpulse(d);
btScalar force = impulse / m_data->m_physicsDeltaTime;
btScalar force = impulse / m_data->getDeltaTimeSubStep();
stateDetails->m_jointMotorForceMultiDof[totalDegreeOfFreedomU] = force;
}
}
@@ -7474,7 +7484,7 @@ bool PhysicsServerCommandProcessor::processRequestActualStateCommand(const struc
if (motor && m_data->m_physicsDeltaTime > btScalar(0))
{
btScalar force = motor->getAppliedImpulse(0) / m_data->m_physicsDeltaTime;
btScalar force = motor->getAppliedImpulse(0) / m_data->getDeltaTimeSubStep();
stateDetails->m_jointMotorForceMultiDof[totalDegreeOfFreedomU] = force;
}
}
@@ -7512,7 +7522,7 @@ bool PhysicsServerCommandProcessor::processRequestActualStateCommand(const struc
if (motor && m_data->m_physicsDeltaTime > btScalar(0))
{
btScalar force = motor->getAppliedImpulse(0) / m_data->m_physicsDeltaTime;
btScalar force = motor->getAppliedImpulse(0) / m_data->getDeltaTimeSubStep();
stateDetails->m_jointMotorForce[l] =
force;
//if (force>0)
@@ -7814,9 +7824,9 @@ bool PhysicsServerCommandProcessor::processRequestContactpointInformationCommand
pt.m_positionOnBInWS[j] = srcPt.getPositionWorldOnB()[j];
}
}
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;
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();
for (int j = 0; j < 3; j++)
{
pt.m_linearFrictionDirection1[j] = srcPt.m_lateralFrictionDir1[j];