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fix rotational friction between btMultiBody and btRigidBody

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This commit is contained in:
Erwin Coumans
2019-07-24 22:07:16 -07:00
parent e96f068220
commit 3eedb2a6f2
3 changed files with 60 additions and 4 deletions
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8
src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp
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@@ -944,13 +944,13 @@ void btMultiBodyConstraintSolver::setupMultiBodyTorsionalFrictionConstraint(btMu
btScalar* delta = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex];
multiBodyA->calcAccelerationDeltasMultiDof(&m_data.m_jacobians[solverConstraint.m_jacAindex], delta, m_data.scratch_r, m_data.scratch_v);
btVector3 torqueAxis0 = -constraintNormal;
btVector3 torqueAxis0 = constraintNormal;
solverConstraint.m_relpos1CrossNormal = torqueAxis0;
solverConstraint.m_contactNormal1 = btVector3(0, 0, 0);
}
else
{
btVector3 torqueAxis0 = -constraintNormal;
btVector3 torqueAxis0 = constraintNormal;
solverConstraint.m_relpos1CrossNormal = torqueAxis0;
solverConstraint.m_contactNormal1 = btVector3(0, 0, 0);
solverConstraint.m_angularComponentA = rb0 ? rb0->getInvInertiaTensorWorld() * torqueAxis0 * rb0->getAngularFactor() : btVector3(0, 0, 0);
@@ -986,13 +986,13 @@ void btMultiBodyConstraintSolver::setupMultiBodyTorsionalFrictionConstraint(btMu
multiBodyB->fillConstraintJacobianMultiDof(solverConstraint.m_linkB, cp.getPositionWorldOnB(), -constraintNormal, btVector3(0, 0, 0), &m_data.m_jacobians[solverConstraint.m_jacBindex], m_data.scratch_r, m_data.scratch_v, m_data.scratch_m);
multiBodyB->calcAccelerationDeltasMultiDof(&m_data.m_jacobians[solverConstraint.m_jacBindex], &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex], m_data.scratch_r, m_data.scratch_v);
btVector3 torqueAxis1 = constraintNormal;
btVector3 torqueAxis1 = -constraintNormal;
solverConstraint.m_relpos2CrossNormal = torqueAxis1;
solverConstraint.m_contactNormal2 = -btVector3(0, 0, 0);
}
else
{
btVector3 torqueAxis1 = constraintNormal;
btVector3 torqueAxis1 = -constraintNormal;
solverConstraint.m_relpos2CrossNormal = torqueAxis1;
solverConstraint.m_contactNormal2 = -btVector3(0, 0, 0);