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separate spinning friction (torsional friction around contact normal) from

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rolling friction (orthogonal to contact normal)
This commit is contained in:
Erwin Coumans
2016-09-16 00:04:33 +01:00
parent 4d6a95017e
commit 1d88cf71e4
11 changed files with 67 additions and 9 deletions
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12
src/BulletCollision/CollisionDispatch/btManifoldResult.cpp
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@@ -24,7 +24,6 @@ ContactAddedCallback gContactAddedCallback=0;
///User can override this material combiner by implementing gContactAddedCallback and setting body0->m_collisionFlags |= btCollisionObject::customMaterialCallback;
btScalar btManifoldResult::calculateCombinedRollingFriction(const btCollisionObject* body0,const btCollisionObject* body1)
{
btScalar friction = body0->getRollingFriction() * body1->getFriction() + body1->getRollingFriction() * body0->getFriction();
@@ -38,6 +37,17 @@ btScalar btManifoldResult::calculateCombinedRollingFriction(const btCollisionObj
}
btScalar btManifoldResult::calculateCombinedSpinningFriction(const btCollisionObject* body0,const btCollisionObject* body1)
{
btScalar friction = body0->getSpinningFriction() * body1->getFriction() + body1->getSpinningFriction() * body0->getFriction();
const btScalar MAX_FRICTION = btScalar(10.);
if (friction < -MAX_FRICTION)
friction = -MAX_FRICTION;
if (friction > MAX_FRICTION)
friction = MAX_FRICTION;
return friction;
}
///User can override this material combiner by implementing gContactAddedCallback and setting body0->m_collisionFlags |= btCollisionObject::customMaterialCallback;
btScalar btManifoldResult::calculateCombinedFriction(const btCollisionObject* body0,const btCollisionObject* body1)