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Synchronized changes of Bullet, from Blender.

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Added optional flag btSoftBody::appendAnchor(	int node,btRigidBody* body, bool disableCollisionBetweenLinkedBodies=false), to disable collision between soft body and rigid body, when pinned
Added btCollisionObject::setAnisotropicFriction, to scale friction in x,y,z direction.
Added btCollisionObject::setContactProcessingThreshold(float threshold), to avoid collision resolution of contact above a certain distance.
Avoid collisions between static objects (causes the CharacterDemo to assert, when a dynamic object hits character)
This commit is contained in:
erwin.coumans
2009-03-03 06:47:52 +00:00
parent 5be9f8f301
commit 459c22e7cb
11 changed files with 336 additions and 245 deletions
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32
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
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@@ -246,6 +246,21 @@ btScalar btSequentialImpulseConstraintSolver::restitutionCurve(btScalar rel_vel,
void applyAnisotropicFriction(btCollisionObject* colObj,btVector3& frictionDirection);
void applyAnisotropicFriction(btCollisionObject* colObj,btVector3& frictionDirection)
{
if (colObj && colObj->hasAnisotropicFriction())
{
// transform to local coordinates
btVector3 loc_lateral = frictionDirection * colObj->getWorldTransform().getBasis();
const btVector3& friction_scaling = colObj->getAnisotropicFriction();
//apply anisotropic friction
loc_lateral *= friction_scaling;
// ... and transform it back to global coordinates
frictionDirection = colObj->getWorldTransform().getBasis() * loc_lateral;
}
}
btSolverConstraint& btSequentialImpulseConstraintSolver::addFrictionConstraint(const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,int frictionIndex,btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation)
@@ -379,6 +394,10 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
solverBodyIdB = getOrInitSolverBody(*colObj1);
}
///avoid collision response between two static objects
if (!solverBodyIdA && !solverBodyIdB)
return;
btVector3 rel_pos1;
btVector3 rel_pos2;
btScalar relaxation;
@@ -388,9 +407,7 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
btManifoldPoint& cp = manifold->getContactPoint(j);
///this is a bad test and results in jitter -> always solve for those zero-distanc contacts!
///-> if (cp.getDistance() <= btScalar(0.))
//if (cp.getDistance() <= manifold->getContactBreakingThreshold())
if (cp.getDistance() <= manifold->getContactProcessingThreshold())
{
const btVector3& pos1 = cp.getPositionWorldOnA();
@@ -526,11 +543,15 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
if (!(infoGlobal.m_solverMode & SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION) && lat_rel_vel > SIMD_EPSILON)
{
cp.m_lateralFrictionDir1 /= btSqrt(lat_rel_vel);
applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir1);
applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir1);
addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
if((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
{
cp.m_lateralFrictionDir2 = cp.m_lateralFrictionDir1.cross(cp.m_normalWorldOnB);
cp.m_lateralFrictionDir2.normalize();//??
applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir2);
applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir2);
addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
}
cp.m_lateralFrictionInitialized = true;
@@ -538,9 +559,14 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
{
//re-calculate friction direction every frame, todo: check if this is really needed
btPlaneSpace1(cp.m_normalWorldOnB,cp.m_lateralFrictionDir1,cp.m_lateralFrictionDir2);
applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir1);
applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir1);
addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
{
applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir2);
applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir2);
addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
}
cp.m_lateralFrictionInitialized = true;