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BGE Fix T41943: Zeroing out angular velocity not possible 

This patch makes it possible to zero out angular velocity. tiny angular
velocities may cause instabilities, according to the discussion in T41943,
so they are mapped to (0, 0, 0) instead.

It also applies the same reasoning to the linear velocity, unifying the
different approaches.

Differential revision: D952
This commit is contained in:
Sybren A. Stüvel 2015-10-09 09:29:31 +02:00
parent ff7effdc04
commit 46ad220305
Notes: blender-bot 2023-02-14 10:03:34 +01:00 
Referenced by issue #41943, Zeroing out angular velocity not possible
1 changed files with 14 additions and 3 deletions
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17
source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
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@ -1283,7 +1283,13 @@ void CcdPhysicsController::ApplyForce(const MT_Vector3& forcein,bool local)
void CcdPhysicsController::SetAngularVelocity(const MT_Vector3& ang_vel,bool local)
{
btVector3 angvel(ang_vel.x(),ang_vel.y(),ang_vel.z());
if (m_object && angvel.length2() > (SIMD_EPSILON*SIMD_EPSILON))
/* Refuse tiny tiny velocities, as they might cause instabilities. */
float vel_squared = angvel.length2();
if (vel_squared > 0 && vel_squared <= (SIMD_EPSILON*SIMD_EPSILON))
angvel = btVector3(0, 0, 0);
if (m_object)
{
m_object->activate(true);
if (m_object->isStaticObject())
@ -1305,9 +1311,14 @@ void CcdPhysicsController::SetAngularVelocity(const MT_Vector3& ang_vel,bool lo
}
void CcdPhysicsController::SetLinearVelocity(const MT_Vector3& lin_vel,bool local)
{
btVector3 linVel(lin_vel.x(),lin_vel.y(),lin_vel.z());
if (m_object/* && linVel.length2() > (SIMD_EPSILON*SIMD_EPSILON)*/)
/* Refuse tiny tiny velocities, as they might cause instabilities. */
float vel_squared = linVel.length2();
if (vel_squared > 0 && vel_squared <= (SIMD_EPSILON*SIMD_EPSILON))
linVel = btVector3(0, 0, 0);
if (m_object)
{
m_object->activate(true);
if (m_object->isStaticObject())