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add m_splitImpulseTurnErp solver setting, initialized to 0.1: more stable recovery from deeper penetrations by reducing the angular effect (if split impulse is enabled)

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Set it to 1.0 to disable the effect.
removed broken/not maintained heightfield fluid demo
add some API methods to btPersistentManifold
This commit is contained in:
erwin.coumans
2012-09-03 04:38:08 +00:00
parent c1138535f9
commit 196aa20329
25 changed files with 26 additions and 4888 deletions
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4
src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
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@@ -49,6 +49,7 @@ struct btContactSolverInfoData
btScalar m_globalCfm;//constraint force mixing
int m_splitImpulse;
btScalar m_splitImpulsePenetrationThreshold;
btScalar m_splitImpulseTurnErp;
btScalar m_linearSlop;
btScalar m_warmstartingFactor;
@@ -73,12 +74,13 @@ struct btContactSolverInfo : public btContactSolverInfoData
m_restitution = btScalar(0.);
m_maxErrorReduction = btScalar(20.);
m_numIterations = 10;
m_erp = btScalar(0.2);
m_erp = btScalar(0.1);
m_erp2 = btScalar(0.1);
m_globalCfm = btScalar(0.);
m_sor = btScalar(1.);
m_splitImpulse = true;
m_splitImpulsePenetrationThreshold = -.04f;
m_splitImpulseTurnErp = 0.1f;
m_linearSlop = btScalar(0.0);
m_warmstartingFactor=btScalar(0.85);
//m_solverMode = SOLVER_USE_WARMSTARTING | SOLVER_SIMD | SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION|SOLVER_USE_2_FRICTION_DIRECTIONS|SOLVER_ENABLE_FRICTION_DIRECTION_CACHING;// | SOLVER_RANDMIZE_ORDER;

2
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
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@@ -1317,7 +1317,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish(btCo
btRigidBody* body = m_tmpSolverBodyPool[i].m_originalBody;
if (body)
{
m_tmpSolverBodyPool[i].writebackVelocityAndTransform(infoGlobal.m_timeStep);
m_tmpSolverBodyPool[i].writebackVelocityAndTransform(infoGlobal.m_timeStep, infoGlobal.m_splitImpulseTurnErp);
m_tmpSolverBodyPool[i].m_originalBody->setLinearVelocity(m_tmpSolverBodyPool[i].m_linearVelocity);
m_tmpSolverBodyPool[i].m_originalBody->setAngularVelocity(m_tmpSolverBodyPool[i].m_angularVelocity);
m_tmpSolverBodyPool[i].m_originalBody->setWorldTransform(m_tmpSolverBodyPool[i].m_worldTransform);

4
src/BulletDynamics/ConstraintSolver/btSolverBody.h
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@@ -263,7 +263,7 @@ ATTRIBUTE_ALIGNED64 (struct) btSolverBody
}
void writebackVelocityAndTransform(btScalar timeStep)
void writebackVelocityAndTransform(btScalar timeStep, btScalar splitImpulseTurnErp)
{
(void) timeStep;
if (m_originalBody)
@@ -276,7 +276,7 @@ ATTRIBUTE_ALIGNED64 (struct) btSolverBody
if (m_pushVelocity[0]!=0.f || m_pushVelocity[1]!=0 || m_pushVelocity[2]!=0 || m_turnVelocity[0]!=0.f || m_turnVelocity[1]!=0 || m_turnVelocity[2]!=0)
{
btQuaternion orn = m_worldTransform.getRotation();
btTransformUtil::integrateTransform(m_worldTransform,m_pushVelocity,m_turnVelocity,timeStep,newTransform);
btTransformUtil::integrateTransform(m_worldTransform,m_pushVelocity,m_turnVelocity*splitImpulseTurnErp,timeStep,newTransform);
m_worldTransform = newTransform;
}
//m_worldTransform.setRotation(orn);