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Merge pull request #1383 from AndreaCatania/master

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Customize restitution and friction
This commit is contained in:
erwincoumans
2017-10-23 21:00:18 +00:00
committed by GitHub
parent c149840264 45558fc25a
commit a50a20ab9f
3 changed files with 23 additions and 9 deletions
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4
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
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@@ -952,7 +952,7 @@ void btDiscreteDynamicsWorld::createPredictiveContactsInternal( btRigidBody** bo
int index = manifold->addManifoldPoint(newPoint, isPredictive);
btManifoldPoint& pt = manifold->getContactPoint(index);
pt.m_combinedRestitution = 0;
pt.m_combinedFriction = btManifoldResult::calculateCombinedFriction(body,sweepResults.m_hitCollisionObject);
pt.m_combinedFriction = gCalculateCombinedFrictionCallback(body,sweepResults.m_hitCollisionObject);
pt.m_positionWorldOnA = body->getWorldTransform().getOrigin();
pt.m_positionWorldOnB = worldPointB;
@@ -1113,7 +1113,7 @@ void btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep)
for (int p=0;p<manifold->getNumContacts();p++)
{
const btManifoldPoint& pt = manifold->getContactPoint(p);
btScalar combinedRestitution = btManifoldResult::calculateCombinedRestitution(body0, body1);
btScalar combinedRestitution = gCalculateCombinedRestitutionCallback(body0, body1);
if (combinedRestitution>0 && pt.m_appliedImpulse != 0.f)
//if (pt.getDistance()>0 && combinedRestitution>0 && pt.m_appliedImpulse != 0.f)