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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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17
src/BulletCollision/CollisionShapes/btConeShape.h
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@@ -84,6 +84,11 @@ public:
return m_coneIndices[1];
}
virtual btVector3 getAnisotropicRollingFrictionDirection() const
{
return btVector3 (0,1,0);
}
virtual void setLocalScaling(const btVector3& scaling);
};
@@ -93,6 +98,12 @@ class btConeShapeX : public btConeShape
{
public:
btConeShapeX(btScalar radius,btScalar height);
virtual btVector3 getAnisotropicRollingFrictionDirection() const
{
return btVector3 (1,0,0);
}
};
///btConeShapeZ implements a Cone shape, around the Z axis
@@ -100,6 +111,12 @@ class btConeShapeZ : public btConeShape
{
public:
btConeShapeZ(btScalar radius,btScalar height);
virtual btVector3 getAnisotropicRollingFrictionDirection() const
{
return btVector3 (0,0,1);
}
};
#endif //BT_CONE_MINKOWSKI_H