Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Disable 'm_robotSim.setNumSimulationSubSteps' because it is not needed at the moment

Browse Source 
Fix issue in contact/friction between btMultibody and btRigidBody (external force/torque of btRigidBody was not taken into account during contact/friction setup)
Allow 0.1 mm slop in contact, to avoid loosing contact. Todo: allow contacts with positive distance in multibody solver.
This commit is contained in:
erwin coumans
2016-08-27 13:44:18 -07:00
parent c741b17da8
commit 4094b9f0df
3 changed files with 8 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files

8
src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp
View File

@@ -408,7 +408,9 @@ void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySol
{
if (rb0)
{
rel_vel += rb0->getVelocityInLocalPoint(rel_pos1).dot(solverConstraint.m_contactNormal1);
rel_vel += (rb0->getVelocityInLocalPoint(rel_pos1) +
(rb0->getTotalTorque()*rb0->getInvInertiaTensorWorld()*infoGlobal.m_timeStep).cross(rel_pos1)+
rb0->getTotalForce()*rb0->getInvMass()*infoGlobal.m_timeStep).dot(solverConstraint.m_contactNormal1);
}
}
if (multiBodyB)
@@ -422,7 +424,9 @@ void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySol
{
if (rb1)
{
rel_vel += rb1->getVelocityInLocalPoint(rel_pos2).dot(solverConstraint.m_contactNormal2);
rel_vel += (rb1->getVelocityInLocalPoint(rel_pos2)+
(rb1->getTotalTorque()*rb1->getInvInertiaTensorWorld()*infoGlobal.m_timeStep).cross(rel_pos2) +
rb1->getTotalForce()*rb1->getInvMass()*infoGlobal.m_timeStep).dot(solverConstraint.m_contactNormal2);
}
}