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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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5
src/BulletDynamics/ConstraintSolver/btSolverConstraint.h
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@@ -36,7 +36,9 @@ ATTRIBUTE_ALIGNED16 (struct) btSolverConstraint
btVector3 m_angularComponentA;
btVector3 m_angularComponentB;
mutable btScalar m_appliedVelocityImpulse;
mutable btScalar m_appliedPushImpulse;
mutable btScalar m_appliedImpulse;
int m_solverBodyIdA;
int m_solverBodyIdB;
@@ -69,3 +71,4 @@ ATTRIBUTE_ALIGNED16 (struct) btSolverConstraint
#endif //BT_SOLVER_CONSTRAINT_H