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try not bringing motor target into -PI,PI range

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This commit is contained in:
Seth Alves 2017-04-22 17:56:40 -07:00
parent 168c26c16e
commit 25070c3bca
1 changed files with 5 additions and 19 deletions
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24
libraries/physics/src/ObjectConstraintHinge.cpp
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@ -77,10 +77,10 @@ void ObjectConstraintHinge::prepareForPhysicsSimulation() {
float t = (float)(now - _startMotorTime) / (float)USECS_PER_SECOND; float t = (float)(now - _startMotorTime) / (float)USECS_PER_SECOND;
float motorTarget = _motorVelocity * t; float motorTarget = _motorVelocity * t;
// brige motorTarget into the range of [-PI, PI] // // bring motorTarget into the range of [-PI, PI]
motorTarget += PI; // motorTarget += PI;
motorTarget = fmodf(motorTarget, 2.0f * PI); // motorTarget = fmodf(motorTarget, 2.0f * PI);
motorTarget -= PI; // motorTarget -= PI;
if (!_motorEnabled) { if (!_motorEnabled) {
constraint->enableMotor(true); constraint->enableMotor(true);
@ -88,6 +88,7 @@ void ObjectConstraintHinge::prepareForPhysicsSimulation() {
} }
constraint->setMaxMotorImpulse(_maxImpulse); constraint->setMaxMotorImpulse(_maxImpulse);
constraint->setMotorTarget(motorTarget, dt); constraint->setMotorTarget(motorTarget, dt);
} else if (_motorTargetTimeScale > 0.0f) { } else if (_motorTargetTimeScale > 0.0f) {
// XXX // XXX
} else if (_motorEnabled) { } else if (_motorEnabled) {
@ -131,21 +132,6 @@ void ObjectConstraintHinge::updateHinge() {
if (!constraint) { if (!constraint) {
return; return;
} }
// constraint->setLimit(low, high, softness, biasFactor, relaxationFactor);
// if (motorTargetTimeScale > 0.0f) {
// qDebug() << "--- setting motor target:" << motorTarget << motorTargetTimeScale;
// constraint->setMotorTarget(motorTarget, motorTargetTimeScale);
// constraint->enableMotor(true);
// withWriteLock([&]{
// _motorTargetTimeScale = 0.0f; // it's a one-shot.
// });
// } else if (motorVelocity != 0.0f) {
// // constraint->setMotorTargetVelocity(motorVelocity);
// // constraint->enableMotor(true);
// } else {
// constraint->enableMotor(false);
// }
} }