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fix for https://github.com/bulletphysics/bullet3/pull/2797

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This commit is contained in:
Erwin Coumans
2020-05-17 14:09:42 -07:00
parent 8ba6a6932c
commit 3f0b8c938b
1 changed files with 10 additions and 3 deletions
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13
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -8048,7 +8048,9 @@ bool PhysicsServerCommandProcessor::processRequestContactpointInformationCommand
cb.m_bodyUniqueIdA = bodyUniqueIdA;
cb.m_bodyUniqueIdB = bodyUniqueIdB;
cb.m_deltaTime = m_data->m_physicsDeltaTime;
cb.m_deltaTime = m_data->m_numSimulationSubSteps>0 ?
m_data->m_physicsDeltaTime/ m_data->m_numSimulationSubSteps :
m_data->m_physicsDeltaTime;
for (int i = 0; i < setA.size(); i++)
{
@@ -11604,6 +11606,10 @@ bool PhysicsServerCommandProcessor::processCreateUserConstraintCommand(const str
if (clientCmd.m_updateFlags & USER_CONSTRAINT_CHANGE_CONSTRAINT)
{
btScalar fixedTimeSubStep = m_data->m_numSimulationSubSteps > 0 ?
m_data->m_physicsDeltaTime / m_data->m_numSimulationSubSteps :
m_data->m_physicsDeltaTime;
serverCmd.m_type = CMD_CHANGE_USER_CONSTRAINT_FAILED;
int userConstraintUidChange = clientCmd.m_userConstraintArguments.m_userConstraintUniqueId;
InteralUserConstraintData* userConstraintPtr = m_data->m_userConstraints.find(userConstraintUidChange);
@@ -11636,7 +11642,8 @@ bool PhysicsServerCommandProcessor::processCreateUserConstraintCommand(const str
}
if (clientCmd.m_updateFlags & USER_CONSTRAINT_CHANGE_MAX_FORCE)
{
btScalar maxImp = clientCmd.m_userConstraintArguments.m_maxAppliedForce * m_data->m_physicsDeltaTime;
btScalar maxImp = clientCmd.m_userConstraintArguments.m_maxAppliedForce * fixedTimeSubStep;
userConstraintPtr->m_userConstraintData.m_maxAppliedForce = clientCmd.m_userConstraintArguments.m_maxAppliedForce;
userConstraintPtr->m_mbConstraint->setMaxAppliedImpulse(maxImp);
}
@@ -11667,7 +11674,7 @@ bool PhysicsServerCommandProcessor::processCreateUserConstraintCommand(const str
{
if (clientCmd.m_updateFlags & USER_CONSTRAINT_CHANGE_MAX_FORCE)
{
btScalar maxImp = clientCmd.m_userConstraintArguments.m_maxAppliedForce * m_data->m_physicsDeltaTime;
btScalar maxImp = clientCmd.m_userConstraintArguments.m_maxAppliedForce * fixedTimeSubStep;
userConstraintPtr->m_userConstraintData.m_maxAppliedForce = clientCmd.m_userConstraintArguments.m_maxAppliedForce;
//userConstraintPtr->m_rbConstraint->setMaxAppliedImpulse(maxImp);
}