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Stop resitution for resting contact, after n frames (can be controlled by btContactSolverInfo.m_restingContactRestitutionThreshold

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Thanks Jan Bender for bringing this up
This commit is contained in:
erwin.coumans
2008-10-09 16:24:00 +00:00
parent 0508c3a5d5
commit a42b7d93f1
2 changed files with 23 additions and 8 deletions
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2
src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
View File

@@ -44,6 +44,7 @@ struct btContactSolverInfoData
btScalar m_warmstartingFactor;
int m_solverMode;
int m_restingContactRestitutionThreshold;
};
@@ -69,6 +70,7 @@ struct btContactSolverInfo : public btContactSolverInfoData
m_linearSlop = btScalar(0.0);
m_warmstartingFactor=btScalar(0.85);
m_solverMode = SOLVER_RANDMIZE_ORDER | SOLVER_CACHE_FRIENDLY | SOLVER_USE_WARMSTARTING;
m_restingContactRestitutionThreshold = 2;//resting contact lifetime threshold to disable restitution
}
};

29
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
View File

@@ -718,11 +718,19 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
//solverConstraint.m_penetration = cp.getDistance();
solverConstraint.m_friction = cp.m_combinedFriction;
solverConstraint.m_restitution = restitutionCurve(rel_vel, cp.m_combinedRestitution);
if (solverConstraint.m_restitution <= btScalar(0.))
if (cp.m_lifeTime>infoGlobal.m_restingContactRestitutionThreshold)
{
solverConstraint.m_restitution = 0.f;
};
} else
{
solverConstraint.m_restitution = restitutionCurve(rel_vel, cp.m_combinedRestitution);
if (solverConstraint.m_restitution <= btScalar(0.))
{
solverConstraint.m_restitution = 0.f;
};
}
btScalar penVel = -solverConstraint.m_penetration/infoGlobal.m_timeStep;
@@ -1220,12 +1228,17 @@ void btSequentialImpulseConstraintSolver::prepareConstraints(btPersistentManifol
cpd->m_penetration = cp.getDistance();///btScalar(info.m_numIterations);
cpd->m_friction = cp.m_combinedFriction;
cpd->m_restitution = restitutionCurve(rel_vel, combinedRestitution);
if (cpd->m_restitution <= btScalar(0.))
if (cp.m_lifeTime>info.m_restingContactRestitutionThreshold)
{
cpd->m_restitution = btScalar(0.0);
};
cpd->m_restitution = 0.f;
} else
{
cpd->m_restitution = restitutionCurve(rel_vel, combinedRestitution);
if (cpd->m_restitution <= btScalar(0.))
{
cpd->m_restitution = btScalar(0.0);
};
}
//restitution and penetration work in same direction so
//rel_vel