Merge pull request microsoft#2537 from madratman/PR/fast_physics_bug_fix

Bug fixes in drag face coordinates; computation of rotor torque from pwm
DavidLSmyth · Apr 14, 2020 · 64389ad · 64389ad
2 parents 740d4a2 + 461bc00
commit 64389ad
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Showing 2 changed files with 7 additions and 7 deletions.
diff --git a/AirLib/include/vehicles/multirotor/MultiRotorPhysicsBody.hpp b/AirLib/include/vehicles/multirotor/MultiRotorPhysicsBody.hpp
@@ -192,12 +192,12 @@ class MultiRotorPhysicsBody : public PhysicsBody {
 
         //add six drag vertices representing 6 sides
         drag_faces_.clear();
-        drag_faces_.emplace_back(Vector3r(0, 0, -params.body_box.z()), Vector3r(0, 0, -1), drag_factor_unit.z());
-        drag_faces_.emplace_back(Vector3r(0, 0,  params.body_box.z()), Vector3r(0, 0,  1), drag_factor_unit.z());
-        drag_faces_.emplace_back(Vector3r(0, -params.body_box.y(), 0), Vector3r(0, -1, 0), drag_factor_unit.y());
-        drag_faces_.emplace_back(Vector3r(0,  params.body_box.y(), 0), Vector3r(0,  1, 0), drag_factor_unit.y());
-        drag_faces_.emplace_back(Vector3r(-params.body_box.x(), 0, 0), Vector3r(-1, 0, 0), drag_factor_unit.x());
-        drag_faces_.emplace_back(Vector3r( params.body_box.x(), 0, 0), Vector3r( 1, 0, 0), drag_factor_unit.x());
+        drag_faces_.emplace_back(Vector3r(0, 0, -params.body_box.z() / 2.0f), Vector3r(0, 0, -1), drag_factor_unit.z());
+        drag_faces_.emplace_back(Vector3r(0, 0,  params.body_box.z() / 2.0f), Vector3r(0, 0,  1), drag_factor_unit.z());
+        drag_faces_.emplace_back(Vector3r(0, -params.body_box.y() / 2.0f, 0), Vector3r(0, -1, 0), drag_factor_unit.y());
+        drag_faces_.emplace_back(Vector3r(0,  params.body_box.y() / 2.0f, 0), Vector3r(0,  1, 0), drag_factor_unit.y());
+        drag_faces_.emplace_back(Vector3r(-params.body_box.x() / 2.0f, 0, 0), Vector3r(-1, 0, 0), drag_factor_unit.x());
+        drag_faces_.emplace_back(Vector3r( params.body_box.x() / 2.0f, 0, 0), Vector3r( 1, 0, 0), drag_factor_unit.x());
 
     }
 

diff --git a/AirLib/include/vehicles/multirotor/RotorActuator.hpp b/AirLib/include/vehicles/multirotor/RotorActuator.hpp
@@ -122,7 +122,7 @@ class RotorActuator : public PhysicsBodyVertex {
         //see relationship of rotation speed with thrust: http://physics.stackexchange.com/a/32013/14061
         output.speed = sqrt(output.control_signal_filtered * params.max_speed_square);
         output.thrust = output.control_signal_filtered * params.max_thrust;
-        output.torque_scaler = output.control_signal_input * params.max_torque * static_cast<int>(turning_direction);
+        output.torque_scaler = output.control_signal_filtered * params.max_torque * static_cast<int>(turning_direction);
         output.turning_direction = turning_direction;
     }