Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

add FractureDemo to AllBulletDemos

Browse Source 
improvements in CCD handling
some cleanup of CcdPhysicsDemo and BasicDemo
This commit is contained in:
erwin.coumans
2011-04-09 01:14:21 +00:00
parent 2291a6a9d3
commit cdddf9d25a
29 changed files with 550 additions and 867 deletions
Download Patch File Download Diff File Expand all files Collapse all files

50
src/BulletDynamics/ConstraintSolver/btContactConstraint.cpp
View File

@@ -68,9 +68,53 @@ void btContactConstraint::buildJacobian()
#include "LinearMath/btMinMax.h"
#include "BulletCollision/NarrowPhaseCollision/btManifoldPoint.h"
#define ASSERT2 btAssert
#define USE_INTERNAL_APPLY_IMPULSE 1
//response between two dynamic objects without friction, assuming 0 penetration depth
btScalar resolveSingleCollision(
btRigidBody* body1,
btCollisionObject* colObj2,
const btVector3& contactPositionWorld,
const btVector3& contactNormalOnB,
const btContactSolverInfo& solverInfo,
btScalar distance)
{
btRigidBody* body2 = btRigidBody::upcast(colObj2);
const btVector3& normal = contactNormalOnB;
btVector3 rel_pos1 = contactPositionWorld - body1->getWorldTransform().getOrigin();
btVector3 rel_pos2 = contactPositionWorld - colObj2->getWorldTransform().getOrigin();
btVector3 vel1 = body1->getVelocityInLocalPoint(rel_pos1);
btVector3 vel2 = body2? body2->getVelocityInLocalPoint(rel_pos2) : btVector3(0,0,0);
btVector3 vel = vel1 - vel2;
btScalar rel_vel;
rel_vel = normal.dot(vel);
btScalar combinedRestitution = body1->getRestitution() * colObj2->getRestitution();
btScalar restitution = combinedRestitution* -rel_vel;
btScalar positionalError = solverInfo.m_erp *-distance /solverInfo.m_timeStep ;
btScalar velocityError = -(1.0f + restitution) * rel_vel;// * damping;
btScalar denom0 = body1->computeImpulseDenominator(contactPositionWorld,normal);
btScalar denom1 = body2? body2->computeImpulseDenominator(contactPositionWorld,normal) : 0.f;
btScalar relaxation = 1.f;
btScalar jacDiagABInv = relaxation/(denom0+denom1);
btScalar penetrationImpulse = positionalError * jacDiagABInv;
btScalar velocityImpulse = velocityError * jacDiagABInv;
btScalar normalImpulse = penetrationImpulse+velocityImpulse;
normalImpulse = 0.f > normalImpulse ? 0.f: normalImpulse;
body1->applyImpulse(normal*(normalImpulse), rel_pos1);
if (body2)
body2->applyImpulse(-normal*(normalImpulse), rel_pos2);
return normalImpulse;
}
//bilateral constraint between two dynamic objects
@@ -83,7 +127,7 @@ void resolveSingleBilateral(btRigidBody& body1, const btVector3& pos1,
btScalar normalLenSqr = normal.length2();
ASSERT2(btFabs(normalLenSqr) < btScalar(1.1));
btAssert(btFabs(normalLenSqr) < btScalar(1.1));
if (normalLenSqr > btScalar(1.1))
{
impulse = btScalar(0.);

3
src/BulletDynamics/ConstraintSolver/btContactConstraint.h
View File

@@ -57,6 +57,9 @@ public:
};
///very basic collision resolution without friction
btScalar resolveSingleCollision(btRigidBody* body1, class btCollisionObject* colObj2, const btVector3& contactPositionWorld,const btVector3& contactNormalOnB, const struct btContactSolverInfo& solverInfo,btScalar distance);
///resolveSingleBilateral is an obsolete methods used for vehicle friction between two dynamic objects
void resolveSingleBilateral(btRigidBody& body1, const btVector3& pos1,