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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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6
Demos/AllBulletDemos/Main.cpp
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@@ -100,12 +100,12 @@ void setDefaultSettings()
gDrawClusters=0;
gDebugNoDeactivation = 0;
gUseSplitImpulse = 0;
gUseSplitImpulse = 1;
gUseWarmstarting = 1;
gRandomizeConstraints = 1;
gRandomizeConstraints = 0;
gErp = 0.2f;
gSlop=0.0f;
gErp2 = 0.1f;
gErp2 = 0.81f;
gWarmStartingParameter = 0.85f;
}

6
Demos/OpenGL/DemoApplication.cpp
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@@ -534,7 +534,7 @@ void DemoApplication::setShootBoxShape ()
{
if (!m_shootBoxShape)
{
btBoxShape* box = new btBoxShape(btVector3(.15f,.15f,.15f));
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());

4
src/BulletDynamics/ConstraintSolver/btContactConstraint.cpp
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@@ -70,7 +70,7 @@ void btContactConstraint::buildJacobian()
//response between two dynamic objects without friction, assuming 0 penetration depth
//response between two dynamic objects without friction and no restitution, assuming 0 penetration depth
btScalar resolveSingleCollision(
btRigidBody* body1,
btCollisionObject* colObj2,
@@ -93,7 +93,7 @@ btScalar resolveSingleCollision(
btScalar rel_vel;
rel_vel = normal.dot(vel);
btScalar combinedRestitution = body1->getRestitution() * colObj2->getRestitution();
btScalar combinedRestitution = 0.f;
btScalar restitution = combinedRestitution* -rel_vel;
btScalar positionalError = solverInfo.m_erp *-distance /solverInfo.m_timeStep ;

33
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
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@@ -781,6 +781,39 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
m_maxOverrideNumSolverIterations = 0;
#ifdef BT_DEBUG
//make sure that dynamic bodies exist for all contact manifolds
for (int i=0;i<numManifolds;i++)
{
if (!manifoldPtr[i]->getBody0()->isStaticOrKinematicObject())
{
bool found=false;
for (int b=0;b<numBodies;b++)
{
if (manifoldPtr[i]->getBody0()==bodies[b])
{
found = true;
break;
}
}
btAssert(found);
}
if (!manifoldPtr[i]->getBody1()->isStaticOrKinematicObject())
{
bool found=false;
for (int b=0;b<numBodies;b++)
{
if (manifoldPtr[i]->getBody1()==bodies[b])
{
found = true;
break;
}
}
btAssert(found);
}
}
#endif //BT_DEBUG
for (int i = 0; i < numBodies; i++)

27
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
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@@ -481,10 +481,11 @@ void btDiscreteDynamicsWorld::internalSingleStepSimulation(btScalar timeStep)
dispatchInfo.m_debugDraw = getDebugDrawer();
createPredictiveContacts(timeStep);
///perform collision detection
performDiscreteCollisionDetection();
createPredictiveContacts(timeStep);
calculateSimulationIslands();
@@ -733,6 +734,28 @@ void btDiscreteDynamicsWorld::calculateSimulationIslands()
getSimulationIslandManager()->updateActivationState(getCollisionWorld(),getCollisionWorld()->getDispatcher());
{
//merge islands based on speculative contact manifolds too
for (int i=0;i<this->m_predictiveManifolds.size();i++)
{
btPersistentManifold* manifold = m_predictiveManifolds[i];
const btCollisionObject* colObj0 = manifold->getBody0();
const btCollisionObject* colObj1 = manifold->getBody1();
if (((colObj0) && (!(colObj0)->isStaticOrKinematicObject())) &&
((colObj1) && (!(colObj1)->isStaticOrKinematicObject())))
{
if (colObj0->isActive() || colObj1->isActive())
{
getSimulationIslandManager()->getUnionFind().unite((colObj0)->getIslandTag(),
(colObj1)->getIslandTag());
}
}
}
}
{
int i;
int numConstraints = int(m_constraints.size());
@@ -912,7 +935,7 @@ void btDiscreteDynamicsWorld::createPredictiveContacts(btScalar timeStep)
btClosestNotMeConvexResultCallback sweepResults(body,body->getWorldTransform().getOrigin(),predictedTrans.getOrigin(),getBroadphase()->getOverlappingPairCache(),getDispatcher());
#endif
//btConvexShape* convexShape = static_cast<btConvexShape*>(body->getCollisionShape());
btSphereShape tmpSphere(0.1);//body->getCcdSweptSphereRadius());//btConvexShape* convexShape = static_cast<btConvexShape*>(body->getCollisionShape());
btSphereShape tmpSphere(body->getCcdSweptSphereRadius());//btConvexShape* convexShape = static_cast<btConvexShape*>(body->getCollisionShape());
sweepResults.m_allowedPenetration=getDispatchInfo().m_allowedCcdPenetration;
sweepResults.m_collisionFilterGroup = body->getBroadphaseProxy()->m_collisionFilterGroup;