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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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2
Demos/CcdPhysicsDemo/CMakeLists.txt
View File

@@ -39,12 +39,14 @@ IF (WIN32)
TARGET AppCcdPhysicsDemo TARGET AppCcdPhysicsDemo
POST_BUILD POST_BUILD
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/glut64.dll ${CMAKE_CURRENT_BINARY_DIR} COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/glut64.dll ${CMAKE_CURRENT_BINARY_DIR}
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/glut64.dll ${CMAKE_CURRENT_BINARY_DIR}/Debug
) )
ELSE(CMAKE_CL_64) ELSE(CMAKE_CL_64)
ADD_CUSTOM_COMMAND( ADD_CUSTOM_COMMAND(
TARGET AppCcdPhysicsDemo TARGET AppCcdPhysicsDemo
POST_BUILD POST_BUILD
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/GLUT32.DLL ${CMAKE_CURRENT_BINARY_DIR} COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/GLUT32.DLL ${CMAKE_CURRENT_BINARY_DIR}
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/GLUT32.DLL ${CMAKE_CURRENT_BINARY_DIR}/Debug
) )
ENDIF(CMAKE_CL_64) ENDIF(CMAKE_CL_64)
ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES) ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)

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 #define EXTRA_HEIGHT 1.f
#include "CcdPhysicsDemo.h" #include "CcdPhysicsDemo.h"
@@ -40,7 +41,7 @@ CcdPhysicsDemo::CcdPhysicsDemo()
:m_ccdMode(USE_CCD) :m_ccdMode(USE_CCD)
{ {
setDebugMode(btIDebugDraw::DBG_DrawText+btIDebugDraw::DBG_NoHelpText); setDebugMode(btIDebugDraw::DBG_DrawText+btIDebugDraw::DBG_NoHelpText);
setCameraDistance(btScalar(20.)); setCameraDistance(btScalar(40.));
} }
@@ -54,7 +55,7 @@ void CcdPhysicsDemo::clientMoveAndDisplay()
///step the simulation ///step the simulation
if (m_dynamicsWorld) 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 //optional but useful: debug drawing
m_dynamicsWorld->debugDrawWorld(); m_dynamicsWorld->debugDrawWorld();
} }
@@ -165,6 +166,7 @@ void CcdPhysicsDemo::initPhysics()
m_ShootBoxInitialSpeed = 4000.f; m_ShootBoxInitialSpeed = 4000.f;
m_defaultContactProcessingThreshold = 0.f;
///collision configuration contains default setup for memory, collision setup ///collision configuration contains default setup for memory, collision setup
m_collisionConfiguration = new btDefaultCollisionConfiguration(); 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) ///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 = 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(); m_broadphase = new btDbvtBroadphase();
@@ -181,8 +183,15 @@ void CcdPhysicsDemo::initPhysics()
m_solver = sol; m_solver = sol;
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration); 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 ->setDebugDrawer(&sDebugDrawer);
//m_dynamicsWorld->getSolverInfo().m_splitImpulse=false;
if (m_ccdMode==USE_CCD) if (m_ccdMode==USE_CCD)
{ {
@@ -202,7 +211,8 @@ void CcdPhysicsDemo::initPhysics()
// btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),50); // btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),50);
m_collisionShapes.push_back(groundShape); 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; btTransform groundTransform;
groundTransform.setIdentity(); groundTransform.setIdentity();
@@ -223,7 +233,8 @@ void CcdPhysicsDemo::initPhysics()
btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform); btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,groundShape,localInertia); btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,groundShape,localInertia);
btRigidBody* body = new btRigidBody(rbInfo); btRigidBody* body = new btRigidBody(rbInfo);
body->setRollingFriction(0.3); body->setFriction(0.5);
//body->setRollingFriction(0.3);
//add the body to the dynamics world //add the body to the dynamics world
m_dynamicsWorld->addRigidBody(body); m_dynamicsWorld->addRigidBody(body);
} }
@@ -251,7 +262,7 @@ void CcdPhysicsDemo::initPhysics()
if (isDynamic) if (isDynamic)
colShape->calculateLocalInertia(mass,localInertia); colShape->calculateLocalInertia(mass,localInertia);
int gNumObjects = 120; int gNumObjects = 120;//120;
int i; int i;
for (i=0;i<gNumObjects;i++) for (i=0;i<gNumObjects;i++)
{ {
@@ -282,8 +293,9 @@ void CcdPhysicsDemo::initPhysics()
btRigidBody* body = localCreateRigidBody(mass,trans,shape); btRigidBody* body = localCreateRigidBody(mass,trans,shape);
body->setAnisotropicFriction(shape->getAnisotropicRollingFrictionDirection(),btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION); body->setAnisotropicFriction(shape->getAnisotropicRollingFrictionDirection(),btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION);
body->setFriction(0.5);
body->setRollingFriction(.3); //body->setRollingFriction(.3);
///when using m_ccdMode ///when using m_ccdMode
if (m_ccdMode==USE_CCD) if (m_ccdMode==USE_CCD)
{ {

1
Demos/GyroscopicDemo/CMakeLists.txt
View File

@@ -43,7 +43,6 @@ IF (USE_GLUT)
POST_BUILD POST_BUILD
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/GLUT32.DLL ${CMAKE_CURRENT_BINARY_DIR} COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/GLUT32.DLL ${CMAKE_CURRENT_BINARY_DIR}
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/GLUT32.DLL ${CMAKE_CURRENT_BINARY_DIR}/Debug COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/GLUT32.DLL ${CMAKE_CURRENT_BINARY_DIR}/Debug
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/GLUT32.DLL ${CMAKE_CURRENT_BINARY_DIR}/Release
) )
ENDIF(CMAKE_CL_64) ENDIF(CMAKE_CL_64)

39
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
View File

@@ -830,9 +830,21 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
} }
} }
///Bullet has several options to set the friction directions
///By default, each contact has only a single friction direction that is recomputed automatically very frame
cp.m_lateralFrictionInitialized = false; ///based on the relative linear velocity.
///If the relative velocity it zero, it will automatically compute a friction direction.
///You can also enable two friction directions, using the SOLVER_USE_2_FRICTION_DIRECTIONS.
///In that case, the second friction direction will be orthogonal to both contact normal and first friction direction.
///
///If you choose SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION, then the friction will be independent from the relative projected velocity.
///
///The user can manually override the friction directions for certain contacts using a contact callback,
///and set the cp.m_lateralFrictionInitialized to true
///In that case, you can set the target relative motion in each friction direction (cp.m_contactMotion1 and cp.m_contactMotion2)
///this will give a conveyor belt effect
///
if (!(infoGlobal.m_solverMode & SOLVER_ENABLE_FRICTION_DIRECTION_CACHING) || !cp.m_lateralFrictionInitialized) if (!(infoGlobal.m_solverMode & SOLVER_ENABLE_FRICTION_DIRECTION_CACHING) || !cp.m_lateralFrictionInitialized)
{ {
cp.m_lateralFrictionDir1 = vel - cp.m_normalWorldOnB * rel_vel; cp.m_lateralFrictionDir1 = vel - cp.m_normalWorldOnB * rel_vel;
@@ -854,12 +866,9 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_FRICTION); applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_FRICTION);
addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation); addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
cp.m_lateralFrictionInitialized = true;
} else } else
{ {
if (!(infoGlobal.m_solverMode & SOLVER_ALLOW_ZERO_LENGTH_FRICTION_DIRECTIONS)) btPlaneSpace1(cp.m_normalWorldOnB,cp.m_lateralFrictionDir1,cp.m_lateralFrictionDir2);
btPlaneSpace1(cp.m_normalWorldOnB,cp.m_lateralFrictionDir1,cp.m_lateralFrictionDir2);
if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)) if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
{ {
@@ -872,8 +881,10 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_FRICTION); applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_FRICTION);
addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation); addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS) && (infoGlobal.m_solverMode & SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION))
cp.m_lateralFrictionInitialized = true; {
cp.m_lateralFrictionInitialized = true;
}
} }
} else } else
@@ -882,10 +893,12 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)) if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation, cp.m_contactMotion2, cp.m_contactCFM2); addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation, cp.m_contactMotion2, cp.m_contactCFM2);
setFrictionConstraintImpulse( solverConstraint, solverBodyIdA, solverBodyIdB, cp, infoGlobal);
} }
setFrictionConstraintImpulse( solverConstraint, solverBodyIdA, solverBodyIdB, cp, infoGlobal);
} }
} }
@@ -1235,7 +1248,8 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration
if (infoGlobal.m_solverMode & SOLVER_RANDMIZE_ORDER) if (infoGlobal.m_solverMode & SOLVER_RANDMIZE_ORDER)
{ {
if ((iteration & 7) == 0) { if (1) // uncomment this for a bit less random ((iteration & 7) == 0)
{
for (int j=0; j<numNonContactPool; ++j) { for (int j=0; j<numNonContactPool; ++j) {
int tmp = m_orderNonContactConstraintPool[j]; int tmp = m_orderNonContactConstraintPool[j];
@@ -1372,6 +1386,7 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration
int numRollingFrictionPoolConstraints = m_tmpSolverContactRollingFrictionConstraintPool.size(); int numRollingFrictionPoolConstraints = m_tmpSolverContactRollingFrictionConstraintPool.size();
for (j=0;j<numRollingFrictionPoolConstraints;j++) for (j=0;j<numRollingFrictionPoolConstraints;j++)
{ {
btSolverConstraint& rollingFrictionConstraint = m_tmpSolverContactRollingFrictionConstraintPool[j]; btSolverConstraint& rollingFrictionConstraint = m_tmpSolverContactRollingFrictionConstraintPool[j];
btScalar totalImpulse = m_tmpSolverContactConstraintPool[rollingFrictionConstraint.m_frictionIndex].m_appliedImpulse; btScalar totalImpulse = m_tmpSolverContactConstraintPool[rollingFrictionConstraint.m_frictionIndex].m_appliedImpulse;
if (totalImpulse>btScalar(0)) if (totalImpulse>btScalar(0))