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improve handling of restitution by using the velocity (linear/angular) before applying forces: this is done by re-introducing the btSolverBody and only apply the forces to solver body, and use the original rigid body velocity for restitution computation.

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warmstarting for contact points was broken, fix in btPersistentManifold
enable split impulse by default (at the cost of some performance)
add  the option for zero-length friction (instead of recomputing friction directions using btPlaneSpace), use the solver mode flag SOLVER_ALLOW_ZERO_LENGTH_FRICTION_DIRECTIONS
precompute lateral friction directions (in btManifoldResult)
remove the mConstraintRow[3] from btManifoldPoint, it just took a lot of memory with no benefits: fixed it in btParallelConstraintSolver
This commit is contained in:
erwin.coumans
2012-08-31 19:46:24 +00:00
parent 37ebcc3aa6
commit 84b1774dda
17 changed files with 730 additions and 509 deletions
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20
src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h
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@@ -76,9 +76,7 @@ class btManifoldPoint
m_contactCFM2(0.f),
m_lifeTime(0)
{
mConstraintRow[0].m_accumImpulse = 0.f;
mConstraintRow[1].m_accumImpulse = 0.f;
mConstraintRow[2].m_accumImpulse = 0.f;
}
@@ -94,16 +92,16 @@ class btManifoldPoint
btScalar m_combinedFriction;
btScalar m_combinedRestitution;
//BP mod, store contact triangles.
int m_partId0;
int m_partId1;
int m_index0;
int m_index1;
//BP mod, store contact triangles.
int m_partId0;
int m_partId1;
int m_index0;
int m_index1;
mutable void* m_userPersistentData;
btScalar m_appliedImpulse;
bool m_lateralFrictionInitialized;
btScalar m_appliedImpulse;
btScalar m_appliedImpulseLateral1;
btScalar m_appliedImpulseLateral2;
btScalar m_contactMotion1;
@@ -118,8 +116,6 @@ class btManifoldPoint
btConstraintRow mConstraintRow[3];
btScalar getDistance() const
{