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Merge pull request #13138 from AndrewMeadows/avoid-div-by-zero

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avoid div by zero when measuring RigidBody effective acceleration
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John Conklin II 2018-05-14 13:41:08 -07:00 committed by GitHub
commit c57b0a957d
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1 changed files with 3 additions and 1 deletions
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4
libraries/physics/src/EntityMotionState.cpp
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@ -731,7 +731,9 @@ void EntityMotionState::measureBodyAcceleration() {
// hence the equation for acceleration is: a = (v1 / (1 - D)^dt - v0) / dt // hence the equation for acceleration is: a = (v1 / (1 - D)^dt - v0) / dt
glm::vec3 velocity = getBodyLinearVelocityGTSigma(); glm::vec3 velocity = getBodyLinearVelocityGTSigma();
_measuredAcceleration = (velocity / powf(1.0f - _body->getLinearDamping(), dt) - _lastVelocity) * invDt; const float MIN_DAMPING_FACTOR = 0.01f;
float invDampingAttenuationFactor = 1.0f / glm::max(powf(1.0f - _body->getLinearDamping(), dt), MIN_DAMPING_FACTOR);
_measuredAcceleration = (velocity * invDampingAttenuationFactor - _lastVelocity) * invDt;
_lastVelocity = velocity; _lastVelocity = velocity;
if (numSubsteps > PHYSICS_ENGINE_MAX_NUM_SUBSTEPS) { if (numSubsteps > PHYSICS_ENGINE_MAX_NUM_SUBSTEPS) {
// we fall in here when _lastMeasureStep is old: the body has just become active // we fall in here when _lastMeasureStep is old: the body has just become active