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Avoid using restitution for ccd motion clamping. Restitution for fast moving objects should be handled by btDiscreteDynamicsWorld::createPredictiveContacts

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(make sure to merge islands based on those predictive contacts too, added some check in the solver)
This fixes Issue 356.
Use same solver settings for AllBulletDemos
Make sure to embed the setCcdSweptSphereRadius inside the actual collision shape (for shoot box)
This commit is contained in:
erwin.coumans
2012-09-11 03:12:32 +00:00
parent 9612561113
commit 8c56528a79
5 changed files with 67 additions and 11 deletions
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8
Demos/OpenGL/DemoApplication.cpp
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@@ -534,8 +534,8 @@ void DemoApplication::setShootBoxShape ()
{
if (!m_shootBoxShape)
{
btBoxShape* box = new btBoxShape(btVector3(.15f,.15f,.15f));
box->initializePolyhedralFeatures();
btBoxShape* box = new btBoxShape(btVector3(0.5,0.5,0.5));
box->initializePolyhedralFeatures();
m_shootBoxShape = box;
}
}
@@ -565,8 +565,8 @@ void DemoApplication::shootBox(const btVector3& destination)
body->getWorldTransform().setRotation(btQuaternion(0,0,0,1));
body->setLinearVelocity(linVel);
body->setAngularVelocity(btVector3(0,0,0));
body->setCcdMotionThreshold(0.1);
body->setCcdSweptSphereRadius(0.1f);
body->setCcdMotionThreshold(0.5);
body->setCcdSweptSphereRadius(0.4f);//value should be smaller (embedded) than the half extends of the box (see ::setShootBoxShape)
// printf("shootBox uid=%d\n", body->getBroadphaseHandle()->getUid());
// printf("camPos=%f,%f,%f\n",camPos.getX(),camPos.getY(),camPos.getZ());
// printf("destination=%f,%f,%f\n",destination.getX(),destination.getY(),destination.getZ());