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Minor fix in friction: calculate second friction direction based on un-scaling first friction direction (issue if it was scaled to zero)

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Force activation state of static objects to be ISLAND_SLEEPING, once they are added to the world
Add backwards compatibility option btDiscreteDynamicsWorld::setSynchronizeAllMotionStates, just in case only updating active objects broke someones code
Don't disable 3D box-box in box2ddemo
This commit is contained in:
erwin.coumans
2009-06-11 12:22:41 +00:00
parent 3e5fc86a6c
commit 6c80353556
4 changed files with 41 additions and 59 deletions
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50
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
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@@ -619,9 +619,6 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
if (!(infoGlobal.m_solverMode & SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION) && lat_rel_vel > SIMD_EPSILON)
{
cp.m_lateralFrictionDir1 /= btSqrt(lat_rel_vel);
applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir1);
applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir1);
addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
if((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
{
cp.m_lateralFrictionDir2 = cp.m_lateralFrictionDir1.cross(cp.m_normalWorldOnB);
@@ -630,21 +627,26 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir2);
addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
}
applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir1);
applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir1);
addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
cp.m_lateralFrictionInitialized = true;
} else
{
//re-calculate friction direction every frame, todo: check if this is really needed
btPlaneSpace1(cp.m_normalWorldOnB,cp.m_lateralFrictionDir1,cp.m_lateralFrictionDir2);
applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir1);
applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir1);
addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
{
applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir2);
applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir2);
addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
}
applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir1);
applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir1);
addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
cp.m_lateralFrictionInitialized = true;
}
@@ -1090,7 +1092,6 @@ btScalar btSequentialImpulseConstraintSolver::solveGroup(btCollisionObject** bod
int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
int j;
//copy back the applied impulses for contacts
for (j=0;j<numPoolConstraints;j++)
{
@@ -1107,39 +1108,6 @@ btScalar btSequentialImpulseConstraintSolver::solveGroup(btCollisionObject** bod
//do a callback here?
}
int currentRow = 0;
int totalNumRows = m_tmpSolverNonContactConstraintPool.size();
#if 1
//copy back the applied impulses for joints
for (i=0;i<numConstraints;i++)
{
btTypedConstraint* constraint = constraints[i];
if (constraint->needsFeedback())
{
const btTypedConstraint::btConstraintInfo1& info1 = m_tmpConstraintSizesPool[i];
if (info1.m_numConstraintRows)
{
btAssert(currentRow<totalNumRows);
btSolverConstraint* currentConstraintRow = &m_tmpSolverNonContactConstraintPool[currentRow];
constraint->getAppliedLinearImpulse().setValue(0,0,0);
constraint->getAppliedAngularImpulseA().setValue(0,0,0);
constraint->getAppliedAngularImpulseB().setValue(0,0,0);
int j;
btScalar maxAppliedImpulse(0.);
for ( j=0;j<info1.m_numConstraintRows;j++)
{
btSetMax(maxAppliedImpulse,(btScalar)currentConstraintRow[i].m_appliedImpulse);
constraint->getAppliedLinearImpulse() += currentConstraintRow[i].m_contactNormal*currentConstraintRow[i].m_appliedImpulse;
constraint->getAppliedAngularImpulseA() += currentConstraintRow[i].m_relpos1CrossNormal*currentConstraintRow[i].m_appliedImpulse;
constraint->getAppliedAngularImpulseB() += currentConstraintRow[i].m_relpos2CrossNormal*currentConstraintRow[i].m_appliedImpulse;
}
constraint->internalSetAppliedImpulse(maxAppliedImpulse);
}
}
currentRow+=m_tmpConstraintSizesPool[i].m_numConstraintRows;
}
#endif
if (infoGlobal.m_splitImpulse)
{
for ( i=0;i<m_tmpSolverBodyPool.size();i++)