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Attempt to fix "Regression in friction and damping behaviour" , see issue 752

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Thanks to Sergej Reich for the report and narrowing down the breaking revision!
This commit is contained in:
erwin.coumans@gmail.com
2013-10-22 09:26:08 +00:00
parent 5e372d6ac5
commit a21480c8ca
5 changed files with 84 additions and 58 deletions
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7
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
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@@ -58,8 +58,7 @@ protected:
void setupContactConstraint(btSolverConstraint& solverConstraint, int solverBodyIdA, int solverBodyIdB, btManifoldPoint& cp,
const btContactSolverInfo& infoGlobal, btVector3& vel, btScalar& rel_vel, btScalar& relaxation,
btVector3& rel_pos1, btVector3& rel_pos2);
const btContactSolverInfo& infoGlobal,btScalar& relaxation, const btVector3& rel_pos1, const btVector3& rel_pos2);
static void applyAnisotropicFriction(btCollisionObject* colObj,btVector3& frictionDirection, int frictionMode);
@@ -86,8 +85,8 @@ protected:
const btSolverConstraint& contactConstraint);
//internal method
int getOrInitSolverBody(btCollisionObject& body);
void initSolverBody(btSolverBody* solverBody, btCollisionObject* collisionObject);
int getOrInitSolverBody(btCollisionObject& body,btScalar timeStep);
void initSolverBody(btSolverBody* solverBody, btCollisionObject* collisionObject, btScalar timeStep);
void resolveSingleConstraintRowGeneric(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint);