From 85894ad5e493253b2ab02979b74fa4ad1f5af1aa Mon Sep 17 00:00:00 2001 From: megagrump Date: Sun, 21 Nov 2021 01:04:48 +0100 Subject: [PATCH] use dt instead of inv_dt in RevoluteJoint::getMotorTorque --- src/modules/physics/box2d/RevoluteJoint.cpp | 3 ++- src/modules/physics/box2d/RevoluteJoint.h | 4 ++-- src/modules/physics/box2d/wrap_RevoluteJoint.cpp | 4 ++-- 3 files changed, 6 insertions(+), 5 deletions(-) diff --git a/src/modules/physics/box2d/RevoluteJoint.cpp b/src/modules/physics/box2d/RevoluteJoint.cpp index 9e580a326..4175389e7 100644 --- a/src/modules/physics/box2d/RevoluteJoint.cpp +++ b/src/modules/physics/box2d/RevoluteJoint.cpp @@ -101,8 +101,9 @@ float RevoluteJoint::getMotorSpeed() const return joint->GetMotorSpeed(); } -float RevoluteJoint::getMotorTorque(float inv_dt) const +float RevoluteJoint::getMotorTorque(float dt) const { + float inv_dt = 1.0f / dt; return Physics::scaleUp(Physics::scaleUp(joint->GetMotorTorque(inv_dt))); } diff --git a/src/modules/physics/box2d/RevoluteJoint.h b/src/modules/physics/box2d/RevoluteJoint.h index e69430c3c..12fdf041b 100644 --- a/src/modules/physics/box2d/RevoluteJoint.h +++ b/src/modules/physics/box2d/RevoluteJoint.h @@ -87,9 +87,9 @@ public: /** * Get the current motor torque, usually in N-m. - * @param inv_dt The inverse timestep. + * @param dt The timestep. **/ - float getMotorTorque(float inv_dt) const; + float getMotorTorque(float dt) const; /** * Get the maximum motor torque, usually in N-m. diff --git a/src/modules/physics/box2d/wrap_RevoluteJoint.cpp b/src/modules/physics/box2d/wrap_RevoluteJoint.cpp index 91e66345f..6d98de6e7 100644 --- a/src/modules/physics/box2d/wrap_RevoluteJoint.cpp +++ b/src/modules/physics/box2d/wrap_RevoluteJoint.cpp @@ -91,8 +91,8 @@ int w_RevoluteJoint_getMotorSpeed(lua_State *L) int w_RevoluteJoint_getMotorTorque(lua_State *L) { RevoluteJoint *t = luax_checkrevolutejoint(L, 1); - float inv_dt = (float)luaL_checknumber(L, 2); - lua_pushnumber(L, t->getMotorTorque(inv_dt)); + float dt = (float)luaL_checknumber(L, 2); + lua_pushnumber(L, t->getMotorTorque(dt)); return 1; }