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fix issue introduced in previous commit, related to

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btMultiBodyConstraintSolver friction/penetration handling
This commit is contained in:
Erwin Coumans
2017-03-20 19:38:59 -07:00
parent 0b017b0f53
commit 0c874aa43a
1 changed files with 6 additions and 6 deletions
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12
src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp
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@@ -442,7 +442,10 @@ void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySol
distance = cp.getDistance()+infoGlobal.m_linearSlop; distance = cp.getDistance()+infoGlobal.m_linearSlop;
} else } else
{ {
distance = (cp.getPositionWorldOnA() - cp.getPositionWorldOnB()).dot(contactNormal); if (cp.m_contactPointFlags & BT_CONTACT_FLAG_FRICTION_ANCHOR)
{
distance = (cp.getPositionWorldOnA() - cp.getPositionWorldOnB()).dot(contactNormal);
}
} }
@@ -541,17 +544,14 @@ void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySol
btScalar positionalError = 0.f; btScalar positionalError = 0.f;
btScalar velocityError = restitution - rel_vel;// * damping; //note for friction restitution is always set to 0 (check above) so it is acutally velocityError = -rel_vel for friction btScalar velocityError = restitution - rel_vel;// * damping; //note for friction restitution is always set to 0 (check above) so it is acutally velocityError = -rel_vel for friction
if (distance>0 && !isFriction) if (distance>0)
{ {
positionalError = 0; positionalError = 0;
velocityError -= distance / infoGlobal.m_timeStep; velocityError -= distance / infoGlobal.m_timeStep;
} else } else
{ {
if (cp.m_contactPointFlags & BT_CONTACT_FLAG_FRICTION_ANCHOR) positionalError = -distance * erp/infoGlobal.m_timeStep;
{
positionalError = -distance * erp/infoGlobal.m_timeStep;
}
} }
btScalar penetrationImpulse = positionalError*solverConstraint.m_jacDiagABInv; btScalar penetrationImpulse = positionalError*solverConstraint.m_jacDiagABInv;