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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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8
src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h
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@@ -72,7 +72,8 @@ class btManifoldPoint
m_distance1( distance ),
m_combinedFriction(btScalar(0.)),
m_combinedRollingFriction(btScalar(0.)),
m_combinedRestitution(btScalar(0.)),
m_combinedSpinningFriction(btScalar(0.)),
m_combinedRestitution(btScalar(0.)),
m_userPersistentData(0),
m_contactPointFlags(0),
m_appliedImpulse(0.f),
@@ -99,8 +100,9 @@ class btManifoldPoint
btScalar m_distance1;
btScalar m_combinedFriction;
btScalar m_combinedRollingFriction;
btScalar m_combinedRestitution;
btScalar m_combinedRollingFriction;//torsional friction orthogonal to contact normal, useful to make spheres stop rolling forever
btScalar m_combinedSpinningFriction;//torsional friction around contact normal, useful for grasping objects
btScalar m_combinedRestitution;
//BP mod, store contact triangles.
int m_partId0;