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tweak CcdPhysicsDemo

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remove wrong cp.m_lateralFrictionInitialized = false;
See http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?p=28851#p28851
This commit is contained in:
erwin.coumans
2012-09-29 01:52:27 +00:00
parent 79a792913d
commit cfb609f9d1
4 changed files with 49 additions and 21 deletions
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28
Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp
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@@ -15,7 +15,8 @@ subject to the following restrictions:
#define CUBE_HALF_EXTENTS 0.5
#define CUBE_HALF_EXTENTS 1
#define EXTRA_HEIGHT 1.f
#include "CcdPhysicsDemo.h"
@@ -40,7 +41,7 @@ CcdPhysicsDemo::CcdPhysicsDemo()
:m_ccdMode(USE_CCD)
{
setDebugMode(btIDebugDraw::DBG_DrawText+btIDebugDraw::DBG_NoHelpText);
setCameraDistance(btScalar(20.));
setCameraDistance(btScalar(40.));
}
@@ -54,7 +55,7 @@ void CcdPhysicsDemo::clientMoveAndDisplay()
///step the simulation
if (m_dynamicsWorld)
{
m_dynamicsWorld->stepSimulation(1./60.);//ms / 1000000.f);
m_dynamicsWorld->stepSimulation(1./60.,0);//ms / 1000000.f);
//optional but useful: debug drawing
m_dynamicsWorld->debugDrawWorld();
}
@@ -165,6 +166,7 @@ void CcdPhysicsDemo::initPhysics()
m_ShootBoxInitialSpeed = 4000.f;
m_defaultContactProcessingThreshold = 0.f;
///collision configuration contains default setup for memory, collision setup
m_collisionConfiguration = new btDefaultCollisionConfiguration();
@@ -172,7 +174,7 @@ void CcdPhysicsDemo::initPhysics()
///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
m_dispatcher->registerCollisionCreateFunc(BOX_SHAPE_PROXYTYPE,BOX_SHAPE_PROXYTYPE,m_collisionConfiguration->getCollisionAlgorithmCreateFunc(CONVEX_SHAPE_PROXYTYPE,CONVEX_SHAPE_PROXYTYPE));
//m_dispatcher->registerCollisionCreateFunc(BOX_SHAPE_PROXYTYPE,BOX_SHAPE_PROXYTYPE,m_collisionConfiguration->getCollisionAlgorithmCreateFunc(CONVEX_SHAPE_PROXYTYPE,CONVEX_SHAPE_PROXYTYPE));
m_broadphase = new btDbvtBroadphase();
@@ -181,8 +183,15 @@ void CcdPhysicsDemo::initPhysics()
m_solver = sol;
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
m_dynamicsWorld->getSolverInfo().m_solverMode |=SOLVER_USE_2_FRICTION_DIRECTIONS|SOLVER_RANDMIZE_ORDER;
m_dynamicsWorld ->setDebugDrawer(&sDebugDrawer);
//m_dynamicsWorld->getSolverInfo().m_splitImpulse=false;
if (m_ccdMode==USE_CCD)
{
@@ -202,7 +211,8 @@ void CcdPhysicsDemo::initPhysics()
// btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),50);
m_collisionShapes.push_back(groundShape);
m_collisionShapes.push_back(new btCylinderShape (btVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS)));
//m_collisionShapes.push_back(new btCylinderShape (btVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS)));
m_collisionShapes.push_back(new btBoxShape (btVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS)));
btTransform groundTransform;
groundTransform.setIdentity();
@@ -223,7 +233,8 @@ void CcdPhysicsDemo::initPhysics()
btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,groundShape,localInertia);
btRigidBody* body = new btRigidBody(rbInfo);
body->setRollingFriction(0.3);
body->setFriction(0.5);
//body->setRollingFriction(0.3);
//add the body to the dynamics world
m_dynamicsWorld->addRigidBody(body);
}
@@ -251,7 +262,7 @@ void CcdPhysicsDemo::initPhysics()
if (isDynamic)
colShape->calculateLocalInertia(mass,localInertia);
int gNumObjects = 120;
int gNumObjects = 120;//120;
int i;
for (i=0;i<gNumObjects;i++)
{
@@ -282,8 +293,9 @@ void CcdPhysicsDemo::initPhysics()
btRigidBody* body = localCreateRigidBody(mass,trans,shape);
body->setAnisotropicFriction(shape->getAnisotropicRollingFrictionDirection(),btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION);
body->setFriction(0.5);
body->setRollingFriction(.3);
//body->setRollingFriction(.3);
///when using m_ccdMode
if (m_ccdMode==USE_CCD)
{