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Fix friction and restitution in BulletMultiThreaded (collision detection and parallel solver)

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Thanks to lsgmasa for reporting, see http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1758
This commit is contained in:
ejcoumans
2007-12-12 03:41:35 +00:00
parent 947dc8d33d
commit 8d10a6ba1d
4 changed files with 48 additions and 12 deletions
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35
Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuContactResult.cpp
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@@ -31,13 +31,38 @@ SpuContactResult::SpuContactResult()
g_manifoldDmaExport.swapBuffers();
}
void SpuContactResult::setContactInfo(btPersistentManifold* spuManifold, uint64_t manifoldAddress,const btTransform& worldTrans0,const btTransform& worldTrans1, bool isSwapped)
///User can override this material combiner by implementing gContactAddedCallback and setting body0->m_collisionFlags |= btCollisionObject::customMaterialCallback;
inline btScalar calculateCombinedFriction(btScalar friction0,btScalar friction1)
{
btScalar friction = friction0*friction1;
const btScalar MAX_FRICTION = btScalar(10.);
if (friction < -MAX_FRICTION)
friction = -MAX_FRICTION;
if (friction > MAX_FRICTION)
friction = MAX_FRICTION;
return friction;
}
inline btScalar calculateCombinedRestitution(btScalar restitution0,btScalar restitution1)
{
return restitution0*restitution1;
}
void SpuContactResult::setContactInfo(btPersistentManifold* spuManifold, uint64_t manifoldAddress,const btTransform& worldTrans0,const btTransform& worldTrans1, btScalar restitution0,btScalar restitution1, btScalar friction0,btScalar friction1, bool isSwapped)
{
//spu_printf("SpuContactResult::setContactInfo ManifoldAddress: %lu\n", manifoldAddress);
m_rootWorldTransform0 = worldTrans0;
m_rootWorldTransform1 = worldTrans1;
m_manifoldAddress = manifoldAddress;
m_spuManifold = spuManifold;
m_combinedFriction = calculateCombinedFriction(friction0,friction1);
m_combinedRestitution = calculateCombinedRestitution(restitution0,restitution1);
m_isSwapped = isSwapped;
}
@@ -55,6 +80,8 @@ bool ManifoldResultAddContactPoint(const btVector3& normalOnBInWorld,
btPersistentManifold* manifoldPtr,
btTransform& transA,
btTransform& transB,
btScalar combinedFriction,
btScalar combinedRestitution,
bool isSwapped)
{
@@ -109,8 +136,8 @@ bool ManifoldResultAddContactPoint(const btVector3& normalOnBInWorld,
} else
{
newPt.m_combinedFriction = 0.25f;//calculateCombinedFriction(m_body0,m_body1);
newPt.m_combinedRestitution = 0.0f;//calculateCombinedRestitution(m_body0,m_body1);
newPt.m_combinedFriction = combinedFriction;
newPt.m_combinedRestitution = combinedRestitution;
/*
//potential TODO: SPU callbacks, either immediate (local on the SPU), or deferred
@@ -165,6 +192,8 @@ void SpuContactResult::addContactPoint(const btVector3& normalOnBInWorld,const b
localManifold,
m_rootWorldTransform0,
m_rootWorldTransform1,
m_combinedFriction,
m_combinedRestitution,
m_isSwapped);
m_RequiresWriteBack = m_RequiresWriteBack || retVal;
}