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Fix issue with cone friction, we had to accumulate squared residual, not just residual.

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This fixes issue 1473, thanks to Avik De for reporting the issue.
This commit is contained in:
erwincoumans
2017-12-14 10:51:43 -08:00
parent e0bb359804
commit 5ab6a0ad43
1 changed files with 8 additions and 1 deletions
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9
src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp
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@@ -114,7 +114,14 @@ btScalar btMultiBodyConstraintSolver::solveSingleIteration(int iteration, btColl
frictionConstraint.m_upperLimit = frictionConstraint.m_friction*totalImpulse;
frictionConstraintB.m_lowerLimit = -(frictionConstraintB.m_friction*totalImpulse);
frictionConstraintB.m_upperLimit = frictionConstraintB.m_friction*totalImpulse;
leastSquaredResidual += resolveConeFrictionConstraintRows(frictionConstraint, frictionConstraintB);
btScalar residual = resolveConeFrictionConstraintRows(frictionConstraint, frictionConstraintB);
leastSquaredResidual += residual*residual;
if (frictionConstraintB.m_multiBodyA)
frictionConstraintB.m_multiBodyA->setPosUpdated(false);
if (frictionConstraintB.m_multiBodyB)
frictionConstraintB.m_multiBodyB->setPosUpdated(false);
if (frictionConstraint.m_multiBodyA)
frictionConstraint.m_multiBodyA->setPosUpdated(false);
if (frictionConstraint.m_multiBodyB)