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+ make compound versus soft body work (soft body uses interpolated transform)

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+ fixed issue with persistent manifold, warmstarting values were not initialized properly
+ don't clear manifold in sphere-sphere collision (need warmstarting)
+ added support for 'split impulse', decouple positional error correction from velocity correction
This avoids adding momentum due to penetration correction, it can be tuned using following variables:
solverInfo.m_splitImpulse = true/false (disable/enable)
solverInfo.m_splitImpulsePenetrationThreshold (below this value, baumgarte/mixed velocity/penetration is used (cheaper, looks more plausible)
solverInfo.m_linearSlop (less jitter, when small amound of penetration is allowed)
This commit is contained in:
erwin.coumans
2008-05-23 09:05:37 +00:00
parent ea86559480
commit 561066af75
13 changed files with 1611 additions and 1394 deletions
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src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h
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@@ -138,7 +138,7 @@ public:
#define MAINTAIN_PERSISTENCY 1
#ifdef MAINTAIN_PERSISTENCY
int lifeTime = m_pointCache[insertIndex].getLifeTime();
btScalar appliedImpulse = 0.f;//m_pointCache[insertIndex].m_appliedImpulse;
btScalar appliedImpulse = m_pointCache[insertIndex].m_appliedImpulse;
btAssert(lifeTime>=0);
void* cache = m_pointCache[insertIndex].m_userPersistentData;