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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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5
src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h
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@@ -39,6 +39,7 @@ enum btContactPointFlags
{
BT_CONTACT_FLAG_LATERAL_FRICTION_INITIALIZED=1,
BT_CONTACT_FLAG_HAS_CONTACT_CFM=2,
BT_CONTACT_FLAG_HAS_CONTACT_ERP=4,
};
/// ManifoldContactPoint collects and maintains persistent contactpoints.
@@ -55,6 +56,7 @@ class btManifoldPoint
m_contactMotion1(0.f),
m_contactMotion2(0.f),
m_contactCFM(0.f),
m_contactERP(0.f),
m_frictionCFM(0.f),
m_lifeTime(0)
{
@@ -78,6 +80,7 @@ class btManifoldPoint
m_contactMotion1(0.f),
m_contactMotion2(0.f),
m_contactCFM(0.f),
m_contactERP(0.f),
m_frictionCFM(0.f),
m_lifeTime(0)
{
@@ -114,6 +117,8 @@ class btManifoldPoint
btScalar m_contactMotion1;
btScalar m_contactMotion2;
btScalar m_contactCFM;
btScalar m_contactERP;
btScalar m_frictionCFM;
int m_lifeTime;//lifetime of the contactpoint in frames