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

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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