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prevent twist limits being created with equal lower and upper limits

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Signed-off-by: greerdv <greerdv@amazon.com>
This commit is contained in:
greerdv
2021-11-10 19:30:12 +00:00
parent 87c7023e3c
commit d945a031c1
2 changed files with 19 additions and 3 deletions
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Gems/PhysX/Code/Source/Joint/PhysXJointUtils.cpp
+16 -2
View File
@@ -224,8 +224,22 @@ namespace PhysX {
physx::PxJointLimitCone limitCone(swingLimitY, swingLimitZ);
joint->setSwingLimit(limitCone);
const float twistLower = AZ::DegToRad(AZStd::GetMin(configuration.m_twistLimitLower, configuration.m_twistLimitUpper));
const float twistUpper = AZ::DegToRad(AZStd::GetMax(configuration.m_twistLimitLower, configuration.m_twistLimitUpper));
float twistLower = AZ::DegToRad(AZStd::GetMin(configuration.m_twistLimitLower, configuration.m_twistLimitUpper));
float twistUpper = AZ::DegToRad(AZStd::GetMax(configuration.m_twistLimitLower, configuration.m_twistLimitUpper));
// make sure there is at least a small difference between the lower and upper limits to avoid problems in PhysX
const float minSwingLimitRangeRadians = AZ::DegToRad(JointConstants::MinTwistLimitRangeDegrees);
if (const float twistLimitRange = twistUpper - twistLower;
twistLimitRange < minSwingLimitRangeRadians)
{
if (twistUpper > 0.0f)
{
twistLower -= (minSwingLimitRangeRadians - twistLimitRange);
}
else
{
twistUpper += (minSwingLimitRangeRadians - twistLimitRange);
}
}
physx::PxJointAngularLimitPair twistLimitPair(twistLower, twistUpper);
joint->setTwistLimit(twistLimitPair);
Gems/PhysX/Code/Source/Joint/PhysXJointUtils.h
+3 -1
View File
@@ -18,9 +18,11 @@ namespace PhysX
{
namespace JointConstants
{
// Setting swing limits to very small values can cause extreme stability problems, so clamp above a small
// Setting joint limits to very small values can cause extreme stability problems, so clamp above a small
// threshold.
static const float MinSwingLimitDegrees = 1.0f;
// Minimum range between lower and upper twist limits.
static const float MinTwistLimitRangeDegrees = 1.0f;
} // namespace JointConstants
namespace Utils