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

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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
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20
BulletDynamics/ConstraintSolver/ContactConstraint.cpp
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@@ -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
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@@ -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)
{