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fix issue with btMultiBody friction in combination with soft contacts (friction should not re-use normal contact cfm/erp)

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implement friction anchors, position friction correction, disabled by default. Use colObj->setCollisionFlag(flag | CF_HAS_FRICTION_ANCHOR); See test/RobotClientAPI/SlopeFrictionMain.cpp. In URDF or SDF, add <friction_anchor/> in <contact> section of <link> to enable.
PhysicsServer: properly restore old activation state after releasing picked object
btMultiBodyConstraintSolver: disable flip/flop of contact/friction constraint solving by default (it breaks some internal flaky unit tests)
This commit is contained in:
Erwin Coumans
2017-03-20 10:58:07 -07:00
parent 865d37fcb5
commit 0b017b0f53
18 changed files with 299 additions and 91 deletions
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7
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -919,6 +919,7 @@ struct PhysicsServerCommandProcessorInternalData
//data for picking objects
class btRigidBody* m_pickedBody;
int m_savedActivationState;
class btTypedConstraint* m_pickedConstraint;
class btMultiBodyPoint2Point* m_pickingMultiBodyPoint2Point;
btVector3 m_oldPickingPos;
@@ -1146,7 +1147,8 @@ void PhysicsServerCommandProcessor::createEmptyDynamicsWorld()
m_data->m_dynamicsWorld->setGravity(btVector3(0, 0, 0));
m_data->m_dynamicsWorld->getSolverInfo().m_erp2 = 0.08;
m_data->m_dynamicsWorld->getSolverInfo().m_frictionERP = 0.2;//need to check if there are artifacts with frictionERP
m_data->m_dynamicsWorld->getSolverInfo().m_linearSlop = 0.00001;
m_data->m_dynamicsWorld->getSolverInfo().m_numIterations = 50;
m_data->m_dynamicsWorld->getSolverInfo().m_leastSquaresResidualThreshold = 1e-7;
@@ -4978,6 +4980,7 @@ bool PhysicsServerCommandProcessor::pickBody(const btVector3& rayFromWorld, cons
if (!(body->isStaticObject() || body->isKinematicObject()))
{
m_data->m_pickedBody = body;
m_data->m_savedActivationState = body->getActivationState();
m_data->m_pickedBody->setActivationState(DISABLE_DEACTIVATION);
//printf("pickPos=%f,%f,%f\n",pickPos.getX(),pickPos.getY(),pickPos.getZ());
btVector3 localPivot = body->getCenterOfMassTransform().inverse() * pickPos;
@@ -5070,7 +5073,7 @@ void PhysicsServerCommandProcessor::removePickingConstraint()
m_data->m_dynamicsWorld->removeConstraint(m_data->m_pickedConstraint);
delete m_data->m_pickedConstraint;
m_data->m_pickedConstraint = 0;
m_data->m_pickedBody->forceActivationState(ACTIVE_TAG);
m_data->m_pickedBody->forceActivationState(m_data->m_savedActivationState);
m_data->m_pickedBody = 0;
}
if (m_data->m_pickingMultiBodyPoint2Point)