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enable predictive contact constraints, see BasicDemo

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erwin.coumans
2011-03-05 03:01:44 +00:00
parent a99d2679bd
commit 7a9c349a8c
7 changed files with 174 additions and 48 deletions
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11
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
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@@ -557,8 +557,17 @@ void btSequentialImpulseConstraintSolver::setupContactConstraint(btSolverConstra
rel_vel = vel1Dotn+vel2Dotn;
btScalar positionalError = 0.f;
positionalError = -penetration * infoGlobal.m_erp/infoGlobal.m_timeStep;
btScalar velocityError = restitution - rel_vel;// * damping;
if (penetration>0)
{
positionalError = 0;
velocityError -= penetration / infoGlobal.m_timeStep;
} else
{
positionalError = -penetration * infoGlobal.m_erp/infoGlobal.m_timeStep;
}
btScalar penetrationImpulse = positionalError*solverConstraint.m_jacDiagABInv;
btScalar velocityImpulse = velocityError *solverConstraint.m_jacDiagABInv;
if (!infoGlobal.m_splitImpulse || (penetration > infoGlobal.m_splitImpulsePenetrationThreshold))