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Enable softness for btRigidBody contacts. This is implemented by some value (CFM, constraint force mixing) to the main diagonal of A.

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CFM for contacts use world CFM value by default, and can override with custom CFM value using the
BT_CONTACT_FLAG_HAS_CONTACT_CFM stored in m_contactPointFlags.
Boolean m_lateralFrictionInitialized is replaced 'BT_CONTACT_FLAG_LATERAL_FRICTION_INITIALIZED' flag stored in int m_contactPointFlags in btManifoldPoint.
Enable successive over-relaxation parameter (SOR) for contacts. btMLCPSolver uses global CFM.
In one of the next commits, contact softness will be enabled btMultiBody contacts.
Also need to review use of CFM in btMLCPSolvers (only world CFM is used at the moment)
This commit is contained in:
erwin coumans
2016-01-22 17:43:36 -08:00
parent 6bc3f94f52
commit 645a88176d
6 changed files with 40 additions and 42 deletions
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7
src/BulletDynamics/MLCPSolvers/btMLCPSolver.cpp
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@@ -22,8 +22,7 @@ subject to the following restrictions:
btMLCPSolver::btMLCPSolver( btMLCPSolverInterface* solver)
:m_solver(solver),
m_fallback(0),
m_cfm(0.000001)//0.0000001
m_fallback(0)
{
}
@@ -436,7 +435,7 @@ void btMLCPSolver::createMLCPFast(const btContactSolverInfo& infoGlobal)
// add cfm to the diagonal of m_A
for ( int i=0; i<m_A.rows(); ++i)
{
m_A.setElem(i,i,m_A(i,i)+ m_cfm / infoGlobal.m_timeStep);
m_A.setElem(i,i,m_A(i,i)+ infoGlobal.m_globalCfm/ infoGlobal.m_timeStep);
}
}
@@ -564,7 +563,7 @@ void btMLCPSolver::createMLCP(const btContactSolverInfo& infoGlobal)
// add cfm to the diagonal of m_A
for ( int i=0; i<m_A.rows(); ++i)
{
m_A.setElem(i,i,m_A(i,i)+ m_cfm / infoGlobal.m_timeStep);
m_A.setElem(i,i,m_A(i,i)+ infoGlobal.m_globalCfm / infoGlobal.m_timeStep);
}
}