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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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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);
}