Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

added initial support for per-triangle material properties in a non-convex mesh. needs testing.

Browse Source
This commit is contained in:
ejcoumans
2006-08-10 08:18:05 +00:00
parent 3a27e8b1bf
commit 16781831dc
22 changed files with 206 additions and 55 deletions
Download Patch File Download Diff File Expand all files Collapse all files

20
BulletDynamics/ConstraintSolver/ContactConstraint.cpp
View File

@@ -33,18 +33,7 @@ SimdScalar contactTau = .02f;//0.02f;//*0.02f;
SimdScalar calculateCombinedFriction(RigidBody& body0,RigidBody& body1)
{
SimdScalar friction = body0.getFriction() * body1.getFriction();
const SimdScalar MAX_FRICTION = 10.f;
if (friction < -MAX_FRICTION)
friction = -MAX_FRICTION;
if (friction > MAX_FRICTION)
friction = MAX_FRICTION;
return friction;
}
//bilateral constraint between two dynamic objects
@@ -128,9 +117,6 @@ float resolveSingleCollision(
SimdScalar rel_vel;
rel_vel = normal.dot(vel);
float combinedRestitution = body1.getRestitution() * body2.getRestitution();
SimdScalar Kfps = 1.f / solverInfo.m_timeStep ;
@@ -187,17 +173,19 @@ float resolveSingleFriction(
)
{
const SimdVector3& pos1 = contactPoint.GetPositionWorldOnA();
const SimdVector3& pos2 = contactPoint.GetPositionWorldOnB();
const SimdVector3& normal = contactPoint.m_normalWorldOnB;
SimdVector3 rel_pos1 = pos1 - body1.getCenterOfMassPosition();
SimdVector3 rel_pos2 = pos2 - body2.getCenterOfMassPosition();
float combinedFriction = calculateCombinedFriction(body1,body2);
ConstraintPersistentData* cpd = (ConstraintPersistentData*) contactPoint.m_userPersistentData;
assert(cpd);
float combinedFriction = cpd->m_friction;
SimdScalar limit = cpd->m_appliedImpulse * combinedFriction;
//if (contactPoint.m_appliedImpulse>0.f)
//friction

2
BulletDynamics/ConstraintSolver/ContactConstraint.h
View File

@@ -34,6 +34,7 @@ struct ConstraintPersistentData
m_jacDiagABInv(0.f),
m_persistentLifeTime(0),
m_restitution(0.f),
m_friction(0.f),
m_penetration(0.f)
{
}
@@ -50,6 +51,7 @@ struct ConstraintPersistentData
float m_jacDiagABInvTangent1;
int m_persistentLifeTime;
float m_restitution;
float m_friction;
float m_penetration;
SimdVector3 m_frictionWorldTangential0;
SimdVector3 m_frictionWorldTangential1;

8
BulletDynamics/ConstraintSolver/SequentialImpulseConstraintSolver.cpp
View File

@@ -47,7 +47,7 @@ bool MyContactDestroyedCallback(void* userPersistentData)
SequentialImpulseConstraintSolver::SequentialImpulseConstraintSolver()
{
gContactCallback = &MyContactDestroyedCallback;
gContactDestroyedCallback = &MyContactDestroyedCallback;
}
@@ -188,10 +188,10 @@ float SequentialImpulseConstraintSolver::Solve(PersistentManifold* manifoldPtr,
SimdScalar rel_vel;
rel_vel = cp.m_normalWorldOnB.dot(vel);
float combinedRestitution = body0->getRestitution() * body1->getRestitution();
float combinedRestitution = cp.m_combinedRestitution;
cpd->m_penetration = cp.GetDistance();
cpd->m_friction = cp.m_combinedFriction;
cpd->m_restitution = restitutionCurve(rel_vel, combinedRestitution);
if (cpd->m_restitution <= 0.) //0.f)
{

2
BulletDynamics/Dynamics/ContactJoint.cpp
View File

@@ -178,7 +178,7 @@ void ContactJoint::GetInfo2(Info2 *info)
c2[1] = relativePositionB[1];
c2[2] = relativePositionB[2];
//combined friction is available in the contact point
float friction = FRICTION_CONSTANT*m_body0->getFriction() * m_body1->getFriction();
// first friction direction

7
BulletDynamics/Dynamics/RigidBody.cpp
View File

@@ -32,10 +32,13 @@ RigidBody::RigidBody( const MassProps& massProps,SimdScalar linearDamping,SimdSc
m_angularVelocity(0.f,0.f,0.f),
m_linearDamping(0.f),
m_angularDamping(0.5f),
m_friction(friction),
m_restitution(restitution),
m_kinematicTimeStep(0.f)
{
//moved to CollisionObject
m_friction = friction;
m_restitution = restitution;
m_debugBodyId = uniqueId++;
setMassProps(massProps.m_mass, massProps.m_inertiaLocal);

19
BulletDynamics/Dynamics/RigidBody.h
View File

@@ -172,22 +172,7 @@ public:
void getAabb(SimdVector3& aabbMin,SimdVector3& aabbMax) const;
void setRestitution(float rest)
{
m_restitution = rest;
}
float getRestitution() const
{
return m_restitution;
}
void setFriction(float frict)
{
m_friction = frict;
}
float getFriction() const
{
return m_friction;
}
inline float ComputeImpulseDenominator(const SimdPoint3& pos, const SimdVector3& normal) const
@@ -227,8 +212,6 @@ private:
SimdScalar m_angularDamping;
SimdScalar m_inverseMass;
SimdScalar m_friction;
SimdScalar m_restitution;
SimdScalar m_kinematicTimeStep;