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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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32
src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
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@@ -174,10 +174,8 @@ btScalar btRotationalLimitMotor::solveAngularLimits(
// current velocity difference
btVector3 angVelA;
body0->internalGetAngularVelocity(angVelA);
btVector3 angVelB;
body1->internalGetAngularVelocity(angVelB);
btVector3 angVelA = body0->getAngularVelocity();
btVector3 angVelB = body1->getAngularVelocity();
btVector3 vel_diff;
vel_diff = angVelA-angVelB;
@@ -225,12 +223,8 @@ btScalar btRotationalLimitMotor::solveAngularLimits(
btVector3 motorImp = clippedMotorImpulse * axis;
//body0->applyTorqueImpulse(motorImp);
//body1->applyTorqueImpulse(-motorImp);
body0->internalApplyImpulse(btVector3(0,0,0), body0->getInvInertiaTensorWorld()*axis,clippedMotorImpulse);
body1->internalApplyImpulse(btVector3(0,0,0), body1->getInvInertiaTensorWorld()*axis,-clippedMotorImpulse);
body0->applyTorqueImpulse(motorImp);
body1->applyTorqueImpulse(-motorImp);
return clippedMotorImpulse;
@@ -292,10 +286,8 @@ btScalar btTranslationalLimitMotor::solveLinearAxis(
btVector3 rel_pos1 = anchorPos - body1.getCenterOfMassPosition();
btVector3 rel_pos2 = anchorPos - body2.getCenterOfMassPosition();
btVector3 vel1;
body1.internalGetVelocityInLocalPointObsolete(rel_pos1,vel1);
btVector3 vel2;
body2.internalGetVelocityInLocalPointObsolete(rel_pos2,vel2);
btVector3 vel1 = body1.getVelocityInLocalPoint(rel_pos1);
btVector3 vel2 = body2.getVelocityInLocalPoint(rel_pos2);
btVector3 vel = vel1 - vel2;
btScalar rel_vel = axis_normal_on_a.dot(vel);
@@ -348,16 +340,10 @@ btScalar btTranslationalLimitMotor::solveLinearAxis(
normalImpulse = m_accumulatedImpulse[limit_index] - oldNormalImpulse;
btVector3 impulse_vector = axis_normal_on_a * normalImpulse;
//body1.applyImpulse( impulse_vector, rel_pos1);
//body2.applyImpulse(-impulse_vector, rel_pos2);
btVector3 ftorqueAxis1 = rel_pos1.cross(axis_normal_on_a);
btVector3 ftorqueAxis2 = rel_pos2.cross(axis_normal_on_a);
body1.internalApplyImpulse(axis_normal_on_a*body1.getInvMass(), body1.getInvInertiaTensorWorld()*ftorqueAxis1,normalImpulse);
body2.internalApplyImpulse(axis_normal_on_a*body2.getInvMass(), body2.getInvInertiaTensorWorld()*ftorqueAxis2,-normalImpulse);
body1.applyImpulse( impulse_vector, rel_pos1);
body2.applyImpulse(-impulse_vector, rel_pos2);
return normalImpulse;
}