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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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2
src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
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@@ -57,6 +57,7 @@ struct btContactSolverInfoData
int m_restingContactRestitutionThreshold;
int m_minimumSolverBatchSize;
btScalar m_maxGyroscopicForce;
btScalar m_singleAxisRollingFrictionThreshold;
};
@@ -88,6 +89,7 @@ struct btContactSolverInfo : public btContactSolverInfoData
m_solverMode = SOLVER_USE_WARMSTARTING | SOLVER_SIMD;// | SOLVER_RANDMIZE_ORDER;
m_minimumSolverBatchSize = 128; //try to combine islands until the amount of constraints reaches this limit
m_maxGyroscopicForce = 100.f; ///only used to clamp forces for bodies that have their BT_ENABLE_GYROPSCOPIC_FORCE flag set (using btRigidBody::setFlag)
m_singleAxisRollingFrictionThreshold = 1e30f;///if the velocity is above this threshold, it will use a single constraint row (axis), otherwise 3 rows.
}
};