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enable 'getAngularFactor' again

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add getAppliedImpulse accessor to btManifoldPoint
This commit is contained in:
erwin.coumans
2009-02-17 20:38:54 +00:00
parent 4b98cadd4c
commit 4236764cfb
2 changed files with 12 additions and 6 deletions
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6
src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h
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@@ -112,6 +112,12 @@ class btManifoldPoint
m_distance1 = dist; m_distance1 = dist;
} }
///this returns the most recent applied impulse, to satisfy contact constraints by the constraint solver
btScalar getAppliedImpulse() const
{
return m_appliedImpulse;
}
}; };

12
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
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@@ -272,12 +272,12 @@ btSolverConstraint& btSequentialImpulseConstraintSolver::addFrictionConstraint(c
{ {
btVector3 ftorqueAxis1 = rel_pos1.cross(solverConstraint.m_contactNormal); btVector3 ftorqueAxis1 = rel_pos1.cross(solverConstraint.m_contactNormal);
solverConstraint.m_relpos1CrossNormal = ftorqueAxis1; solverConstraint.m_relpos1CrossNormal = ftorqueAxis1;
solverConstraint.m_angularComponentA = body0 ? body0->getInvInertiaTensorWorld()*ftorqueAxis1 : btVector3(0,0,0); solverConstraint.m_angularComponentA = body0 ? body0->getInvInertiaTensorWorld()*ftorqueAxis1*body0->getAngularFactor() : btVector3(0,0,0);
} }
{ {
btVector3 ftorqueAxis1 = rel_pos2.cross(-solverConstraint.m_contactNormal); btVector3 ftorqueAxis1 = rel_pos2.cross(-solverConstraint.m_contactNormal);
solverConstraint.m_relpos2CrossNormal = ftorqueAxis1; solverConstraint.m_relpos2CrossNormal = ftorqueAxis1;
solverConstraint.m_angularComponentB = body1 ? body1->getInvInertiaTensorWorld()*ftorqueAxis1 : btVector3(0,0,0); solverConstraint.m_angularComponentB = body1 ? body1->getInvInertiaTensorWorld()*ftorqueAxis1*body1->getAngularFactor() : btVector3(0,0,0);
} }
#ifdef COMPUTE_IMPULSE_DENOM #ifdef COMPUTE_IMPULSE_DENOM
@@ -417,9 +417,9 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
solverConstraint.m_originalContactPoint = &cp; solverConstraint.m_originalContactPoint = &cp;
btVector3 torqueAxis0 = rel_pos1.cross(cp.m_normalWorldOnB); btVector3 torqueAxis0 = rel_pos1.cross(cp.m_normalWorldOnB);
solverConstraint.m_angularComponentA = rb0 ? rb0->getInvInertiaTensorWorld()*torqueAxis0 : btVector3(0,0,0); solverConstraint.m_angularComponentA = rb0 ? rb0->getInvInertiaTensorWorld()*torqueAxis0*rb0->getAngularFactor() : btVector3(0,0,0);
btVector3 torqueAxis1 = rel_pos2.cross(cp.m_normalWorldOnB); btVector3 torqueAxis1 = rel_pos2.cross(cp.m_normalWorldOnB);
solverConstraint.m_angularComponentB = rb1 ? rb1->getInvInertiaTensorWorld()*-torqueAxis1 : btVector3(0,0,0); solverConstraint.m_angularComponentB = rb1 ? rb1->getInvInertiaTensorWorld()*-torqueAxis1*rb1->getAngularFactor() : btVector3(0,0,0);
{ {
#ifdef COMPUTE_IMPULSE_DENOM #ifdef COMPUTE_IMPULSE_DENOM
btScalar denom0 = rb0->computeImpulseDenominator(pos1,cp.m_normalWorldOnB); btScalar denom0 = rb0->computeImpulseDenominator(pos1,cp.m_normalWorldOnB);
@@ -718,11 +718,11 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
{ {
const btVector3& ftorqueAxis1 = solverConstraint.m_relpos1CrossNormal; const btVector3& ftorqueAxis1 = solverConstraint.m_relpos1CrossNormal;
solverConstraint.m_angularComponentA = constraint->getRigidBodyA().getInvInertiaTensorWorld()*ftorqueAxis1; solverConstraint.m_angularComponentA = constraint->getRigidBodyA().getInvInertiaTensorWorld()*ftorqueAxis1*constraint->getRigidBodyA().getAngularFactor();
} }
{ {
const btVector3& ftorqueAxis2 = solverConstraint.m_relpos2CrossNormal; const btVector3& ftorqueAxis2 = solverConstraint.m_relpos2CrossNormal;
solverConstraint.m_angularComponentB = constraint->getRigidBodyB().getInvInertiaTensorWorld()*ftorqueAxis2; solverConstraint.m_angularComponentB = constraint->getRigidBodyB().getInvInertiaTensorWorld()*ftorqueAxis2*constraint->getRigidBodyB().getAngularFactor();
} }
{ {