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improve rolling friction using anisotropic direction, to avoid resting in an instable position

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(for implicit capsule, cylinder and cone shape)
See Bullet/Demos/RollingFrictionDemo for an example
This commit is contained in:
erwin.coumans
2012-09-16 17:01:25 +00:00
parent 26c713423f
commit 22fb7d5c1e
8 changed files with 120 additions and 43 deletions
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16
src/BulletCollision/CollisionDispatch/btCollisionObject.h
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@@ -138,6 +138,13 @@ public:
CO_USER_TYPE=32
};
enum AnisotropicFrictionFlags
{
CF_ANISOTROPIC_FRICTION_DISABLED=0,
CF_ANISOTROPIC_FRICTION = 1,
CF_ANISOTROPIC_ROLLING_FRICTION = 2
};
SIMD_FORCE_INLINE bool mergesSimulationIslands() const
{
///static objects, kinematic and object without contact response don't merge islands
@@ -148,14 +155,15 @@ public:
{
return m_anisotropicFriction;
}
void setAnisotropicFriction(const btVector3& anisotropicFriction)
void setAnisotropicFriction(const btVector3& anisotropicFriction, int frictionMode = CF_ANISOTROPIC_FRICTION)
{
m_anisotropicFriction = anisotropicFriction;
m_hasAnisotropicFriction = (anisotropicFriction[0]!=1.f) || (anisotropicFriction[1]!=1.f) || (anisotropicFriction[2]!=1.f);
bool isUnity = (anisotropicFriction[0]!=1.f) || (anisotropicFriction[1]!=1.f) || (anisotropicFriction[2]!=1.f);
m_hasAnisotropicFriction = isUnity?frictionMode : 0;
}
bool hasAnisotropicFriction() const
bool hasAnisotropicFriction(int frictionMode = CF_ANISOTROPIC_FRICTION) const
{
return m_hasAnisotropicFriction!=0;
return (m_hasAnisotropicFriction&frictionMode)!=0;
}
///the constraint solver can discard solving contacts, if the distance is above this threshold. 0 by default.