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Add support for target motion and slip/cfm for both friction directions.

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It can be handy for effects such as powered conveyor belt effect or sideways slipping tyre friction.
This commit is contained in:
erwin.coumans
2009-09-18 07:48:15 +00:00
parent 49474da938
commit da4a1b14b5
3 changed files with 19 additions and 6 deletions
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src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
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@@ -37,7 +37,7 @@ protected:
btAlignedObjectArray<int> m_orderFrictionConstraintPool;
btAlignedObjectArray<btTypedConstraint::btConstraintInfo1> m_tmpConstraintSizesPool;
btSolverConstraint& addFrictionConstraint(const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,int frictionIndex,btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation);
btSolverConstraint& addFrictionConstraint(const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,int frictionIndex,btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, btScalar desiredVelocity=0., btScalar cfmSlip=0.);
///m_btSeed2 is used for re-arranging the constraint rows. improves convergence/quality of friction
unsigned long m_btSeed2;