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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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22
examples/RigidBody/RigidBodySoftContact.h Normal file
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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2015 Google Inc. http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef RIGID_BODY_SOFT_CONTACT_H
#define RIGID_BODY_SOFT_CONTACT_H
class CommonExampleInterface* RigidBodySoftContactCreateFunc(struct CommonExampleOptions& options);
#endif //RIGID_BODY_SOFT_CONTACT_H