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Merge pull request #2402 from erwincoumans/master

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disable warmstarting for friction (btRigidBody) since friction direct…
This commit is contained in:
erwincoumans
2019-09-07 08:54:46 -07:00
committed by GitHub
parent bcc7ea31ff 4515fcbfaf
commit 33260e9406
1 changed files with 3 additions and 31 deletions
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34
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
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@@ -1290,43 +1290,15 @@ void btSequentialImpulseConstraintSolver::setFrictionConstraintImpulseInternal(b
int solverBodyIdA, int solverBodyIdB,
btManifoldPoint& cp, const btContactSolverInfo& infoGlobal)
{
btSolverBody* bodyA = &tmpSolverBodyPool[solverBodyIdA];
btSolverBody* bodyB = &tmpSolverBodyPool[solverBodyIdB];
btRigidBody* rb0 = bodyA->m_originalBody;
btRigidBody* rb1 = bodyB->m_originalBody;
{
btSolverConstraint& frictionConstraint1 = tmpSolverContactFrictionConstraintPool[solverConstraint.m_frictionIndex];
if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING)
{
frictionConstraint1.m_appliedImpulse = cp.m_appliedImpulseLateral1 * infoGlobal.m_warmstartingFactor;
if (rb0)
bodyA->internalApplyImpulse(frictionConstraint1.m_contactNormal1 * rb0->getInvMass(), frictionConstraint1.m_angularComponentA, frictionConstraint1.m_appliedImpulse);
if (rb1)
bodyB->internalApplyImpulse(-frictionConstraint1.m_contactNormal2 * rb1->getInvMass(), -frictionConstraint1.m_angularComponentB, -(btScalar)frictionConstraint1.m_appliedImpulse);
}
else
{
frictionConstraint1.m_appliedImpulse = 0.f;
}
frictionConstraint1.m_appliedImpulse = 0.f;
}
if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
{
btSolverConstraint& frictionConstraint2 = tmpSolverContactFrictionConstraintPool[solverConstraint.m_frictionIndex + 1];
if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING)
{
frictionConstraint2.m_appliedImpulse = cp.m_appliedImpulseLateral2 * infoGlobal.m_warmstartingFactor;
if (rb0)
bodyA->internalApplyImpulse(frictionConstraint2.m_contactNormal1 * rb0->getInvMass(), frictionConstraint2.m_angularComponentA, frictionConstraint2.m_appliedImpulse);
if (rb1)
bodyB->internalApplyImpulse(-frictionConstraint2.m_contactNormal2 * rb1->getInvMass(), -frictionConstraint2.m_angularComponentB, -(btScalar)frictionConstraint2.m_appliedImpulse);
}
else
{
frictionConstraint2.m_appliedImpulse = 0.f;
}
frictionConstraint2.m_appliedImpulse = 0.f;
}
}
@@ -2401,4 +2373,4 @@ btScalar btSequentialImpulseConstraintSolver::solveGroup(btCollisionObject** bod
void btSequentialImpulseConstraintSolver::reset()
{
m_btSeed2 = 0;
}
}