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add btDiscreteDynamicsWorld::createPredictiveContacts after discrete collision detection and add temporary contact manifolds, for the constraint solver.

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This should improve 'ccd' handling when using world->getDispatchInfo().m_useContinuous = true;body->setCcdSquareMotionThreshold(...); body->setCcdSquareMotionThreshold(...)
shoot smaller boxes (test)
use yellow instead of orange for contact point normals
tweak default erp and erp2 values, now split impulse is on by default (need to check it)
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erwin.coumans
2012-09-11 00:56:11 +00:00
parent 9cfcabfc4c
commit 9612561113
8 changed files with 116 additions and 13 deletions
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4
src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
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@@ -74,8 +74,8 @@ struct btContactSolverInfo : public btContactSolverInfoData
m_restitution = btScalar(0.);
m_maxErrorReduction = btScalar(20.);
m_numIterations = 10;
m_erp = btScalar(0.1);
m_erp2 = btScalar(0.1);
m_erp = btScalar(0.2);
m_erp2 = btScalar(0.8);
m_globalCfm = btScalar(0.);
m_sor = btScalar(1.);
m_splitImpulse = true;