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fix kinematic objects, see Issue 652

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add m_rollingFriction to btRigidBody::btRigidBodyConstructionInfo
This commit is contained in:
erwin.coumans
2012-09-20 03:32:52 +00:00
parent 19583868a9
commit 59a29b1859
3 changed files with 7 additions and 1 deletions
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3
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
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@@ -526,7 +526,8 @@ int btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject&
} else } else
{ {
btRigidBody* rb = btRigidBody::upcast(&body); btRigidBody* rb = btRigidBody::upcast(&body);
if (rb && rb->getInvMass()) //convert both active and kinematic objects (for their velocity)
if (rb && (rb->getInvMass() || rb->isKinematicObject()))
{ {
solverBodyIdA = m_tmpSolverBodyPool.size(); solverBodyIdA = m_tmpSolverBodyPool.size();
btSolverBody& solverBody = m_tmpSolverBodyPool.expand(); btSolverBody& solverBody = m_tmpSolverBodyPool.expand();

1
src/BulletDynamics/Dynamics/btRigidBody.cpp
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@@ -78,6 +78,7 @@ void btRigidBody::setupRigidBody(const btRigidBody::btRigidBodyConstructionInfo&
//moved to btCollisionObject //moved to btCollisionObject
m_friction = constructionInfo.m_friction; m_friction = constructionInfo.m_friction;
m_rollingFriction = constructionInfo.m_rollingFriction;
m_restitution = constructionInfo.m_restitution; m_restitution = constructionInfo.m_restitution;
setCollisionShape( constructionInfo.m_collisionShape ); setCollisionShape( constructionInfo.m_collisionShape );

4
src/BulletDynamics/Dynamics/btRigidBody.h
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@@ -129,6 +129,9 @@ public:
///best simulation results when friction is non-zero ///best simulation results when friction is non-zero
btScalar m_friction; btScalar m_friction;
///the m_rollingFriction prevents rounded shapes, such as spheres, cylinders and capsules from rolling forever.
///See Bullet/Demos/RollingFrictionDemo for usage
btScalar m_rollingFriction;
///best simulation results using zero restitution. ///best simulation results using zero restitution.
btScalar m_restitution; btScalar m_restitution;
@@ -151,6 +154,7 @@ public:
m_linearDamping(btScalar(0.)), m_linearDamping(btScalar(0.)),
m_angularDamping(btScalar(0.)), m_angularDamping(btScalar(0.)),
m_friction(btScalar(0.5)), m_friction(btScalar(0.5)),
m_rollingFriction(btScalar(0)),
m_restitution(btScalar(0.)), m_restitution(btScalar(0.)),
m_linearSleepingThreshold(btScalar(0.8)), m_linearSleepingThreshold(btScalar(0.8)),
m_angularSleepingThreshold(btScalar(1.f)), m_angularSleepingThreshold(btScalar(1.f)),