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improve control over rolling friction, use the same m_rollingFriction for both linear factor and absolute clamping value.

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erwin.coumans
2012-09-20 04:18:29 +00:00
parent 59a29b1859
commit 5bba00dea4
1 changed files with 26 additions and 4 deletions
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30
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
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@@ -1325,7 +1325,7 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration
solveManifold.m_lowerLimit = -(solveManifold.m_friction*totalImpulse); solveManifold.m_lowerLimit = -(solveManifold.m_friction*totalImpulse);
solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse; solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse;
resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold); resolveSingleConstraintRowGenericSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
} }
} }
} }
@@ -1372,10 +1372,14 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration
btScalar totalImpulse = m_tmpSolverContactConstraintPool[rollingFrictionConstraint.m_frictionIndex].m_appliedImpulse; btScalar totalImpulse = m_tmpSolverContactConstraintPool[rollingFrictionConstraint.m_frictionIndex].m_appliedImpulse;
if (totalImpulse>btScalar(0)) if (totalImpulse>btScalar(0))
{ {
rollingFrictionConstraint.m_lowerLimit = -(rollingFrictionConstraint.m_friction*totalImpulse); btScalar rollingFrictionMagnitude = rollingFrictionConstraint.m_friction*totalImpulse;
rollingFrictionConstraint.m_upperLimit = rollingFrictionConstraint.m_friction*totalImpulse; if (rollingFrictionMagnitude>rollingFrictionConstraint.m_friction)
rollingFrictionMagnitude = rollingFrictionConstraint.m_friction;
resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdA],m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdB],rollingFrictionConstraint); rollingFrictionConstraint.m_lowerLimit = -rollingFrictionMagnitude;
rollingFrictionConstraint.m_upperLimit = rollingFrictionMagnitude;
resolveSingleConstraintRowGenericSIMD(m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdA],m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdB],rollingFrictionConstraint);
} }
} }
@@ -1428,6 +1432,24 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration
resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold); resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
} }
} }
int numRollingFrictionPoolConstraints = m_tmpSolverContactRollingFrictionConstraintPool.size();
for (int j=0;j<numRollingFrictionPoolConstraints;j++)
{
btSolverConstraint& rollingFrictionConstraint = m_tmpSolverContactRollingFrictionConstraintPool[j];
btScalar totalImpulse = m_tmpSolverContactConstraintPool[rollingFrictionConstraint.m_frictionIndex].m_appliedImpulse;
if (totalImpulse>btScalar(0))
{
btScalar rollingFrictionMagnitude = rollingFrictionConstraint.m_friction*totalImpulse;
if (rollingFrictionMagnitude>rollingFrictionConstraint.m_friction)
rollingFrictionMagnitude = rollingFrictionConstraint.m_friction;
rollingFrictionConstraint.m_lowerLimit = -rollingFrictionMagnitude;
rollingFrictionConstraint.m_upperLimit = rollingFrictionMagnitude;
resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdA],m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdB],rollingFrictionConstraint);
}
}
} }
} }
return 0.f; return 0.f;