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Support btMultiBody soft contact using ERP and CFM. Also support custom relaxation parameter to allow successive over relaxation.

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Added demos for rigid and multi body soft (compliant) contact.
Will also add simplified Hertz compliant contact, by dynamically modifying the ERP/CFM to mimic a non-linear spring.
Note that btManifoldPoint is growing too big, we need to implement proper contact constraints derived from btTypedConstraint.
This commit is contained in:
erwin coumans
2016-02-22 18:40:00 -08:00
parent a3154f7a56
commit 6c9bfce975
10 changed files with 435 additions and 19 deletions
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examples/ExampleBrowser/premake4.lua
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@@ -101,8 +101,10 @@
"../MultiBody/MultiDofDemo.cpp",
"../MultiBody/TestJointTorqueSetup.cpp",
"../MultiBody/Pendulum.cpp",
"../MultiBody/MultiBodySoftContact.cpp",
"../MultiBody/MultiBodyConstraintFeedback.cpp",
"../MultiBody/InvertedPendulumPDControl.cpp",
"../RigidBody/RigidBodySoftContact.cpp",
"../ThirdPartyLibs/stb_image/*",
"../ThirdPartyLibs/Wavefront/tiny_obj_loader.*",
"../ThirdPartyLibs/tinyxml/*",