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implemented rolling friction, using a contact constraint. Useful to get rolling spheres to rest, even on a slightly sloped plane.

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See http://www.youtube.com/watch?v=RV7sBAsKu4M and Bullet/Demos/RollingFrictionDemo
Fixes in FractureDemo (mouse picking constraint needs to be removed, otherwise constraint solver crashes/asserts)
This commit is contained in:
erwin.coumans
2012-09-15 06:52:17 +00:00
parent 54744b6ab9
commit 7eebb79ced
14 changed files with 263 additions and 44 deletions
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5
Demos/BasicDemo/main.cpp
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@@ -18,8 +18,7 @@ subject to the following restrictions:
#include "btBulletDynamicsCommon.h"
#include "LinearMath/btHashMap.h"
#include "GLDebugDrawer.h"
static GLDebugDrawer sDebugDraw;
@@ -28,7 +27,7 @@ int main(int argc,char** argv)
BasicDemo ccdDemo;
ccdDemo.initPhysics();
ccdDemo.getDynamicsWorld()->setDebugDrawer(&sDebugDraw);
#ifdef CHECK_MEMORY_LEAKS
ccdDemo.exitPhysics();

3
Demos/CMakeLists.txt
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@@ -12,7 +12,7 @@ IF (USE_GLUT)
SET(SharedDemoSubdirs
OpenGL AllBulletDemos ConvexDecompositionDemo
CcdPhysicsDemo ConstraintDemo SliderConstraintDemo GenericJointDemo Raytracer
RagdollDemo ForkLiftDemo BasicDemo RaytestDemo VoronoiFractureDemo GyroscopicDemo FractureDemo Box2dDemo BspDemo MovingConcaveDemo VehicleDemo
RagdollDemo ForkLiftDemo BasicDemo RollingFrictionDemo RaytestDemo VoronoiFractureDemo GyroscopicDemo FractureDemo Box2dDemo BspDemo MovingConcaveDemo VehicleDemo
UserCollisionAlgorithm CharacterDemo SoftDemo
CollisionInterfaceDemo ConcaveConvexcastDemo SimplexDemo DynamicControlDemo
ConvexHullDistance
@@ -48,6 +48,7 @@ ELSE (USE_GLUT)
CollisionInterfaceDemo
ConcaveDemo
ConstraintDemo
RollingFrictionDemo
ConvexDecompositionDemo
InternalEdgeDemo
GimpactTestDemo

4
Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp
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@@ -223,7 +223,7 @@ void CcdPhysicsDemo::initPhysics()
btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,groundShape,localInertia);
btRigidBody* body = new btRigidBody(rbInfo);
body->setRollingFriction(0.3);
//add the body to the dynamics world
m_dynamicsWorld->addRigidBody(body);
}
@@ -282,7 +282,7 @@ void CcdPhysicsDemo::initPhysics()
btRigidBody* body = localCreateRigidBody(mass,trans,shape);
body->setRollingFriction(0.1);
///when using m_ccdMode
if (m_ccdMode==USE_CCD)
{

14
Demos/FractureDemo/btFractureDynamicsWorld.cpp
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@@ -336,8 +336,22 @@ void btFractureDynamicsWorld::removeRigidBody(btRigidBody* body)
if (body->getInternalType() & CUSTOM_FRACTURE_TYPE)
{
btFractureBody* fbody = (btFractureBody*)body;
btAlignedObjectArray<btTypedConstraint*> tmpConstraints;
for (int i=0;i<fbody->getNumConstraintRefs();i++)
{
tmpConstraints.push_back(fbody->getConstraintRef(i));
}
//remove all constraints attached to this rigid body too
for (int i=0;i<tmpConstraints.size();i++)
btDiscreteDynamicsWorld::removeConstraint(tmpConstraints[i]);
m_fractureBodies.remove(fbody);
}
btDiscreteDynamicsWorld::removeRigidBody(body);
}

2
Demos/GyroscopicDemo/GyroscopicDemo.cpp
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@@ -101,7 +101,7 @@ void GyroscopicDemo::initPhysics()
tr.setIdentity();
tr.setOrigin(positions[i]);
body->setCenterOfMassTransform(tr);
body->setAngularVelocity(btVector3(0,0,1000));
body->setAngularVelocity(btVector3(0,0,15));
body->setLinearVelocity(btVector3(0,.2,0));
body->setFriction(btSqrt(1));
m_dynamicsWorld->addRigidBody(body);

4
Demos/OpenGL/DemoApplication.cpp
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@@ -787,7 +787,7 @@ void DemoApplication::mouseFunc(int button, int state, int x, int y)
dof6->setAngularLowerLimit(btVector3(0,0,0));
dof6->setAngularUpperLimit(btVector3(0,0,0));
m_dynamicsWorld->addConstraint(dof6);
m_dynamicsWorld->addConstraint(dof6,true);
m_pickConstraint = dof6;
dof6->setParam(BT_CONSTRAINT_STOP_CFM,0.8,0);
@@ -806,7 +806,7 @@ void DemoApplication::mouseFunc(int button, int state, int x, int y)
} else
{
btPoint2PointConstraint* p2p = new btPoint2PointConstraint(*body,localPivot);
m_dynamicsWorld->addConstraint(p2p);
m_dynamicsWorld->addConstraint(p2p,true);
m_pickConstraint = p2p;
p2p->m_setting.m_impulseClamp = mousePickClamping;
//very weak constraint for picking

1
Demos/premake4.lua
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@@ -72,6 +72,7 @@ end
"RagdollDemo",
"Raytracer",
"RaytestDemo",
"RollingFrictionDemo",
"SimplexDemo",
"SliderConstraintDemo",
"TerrainDemo",