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Made btCollisionWorld::convexSweepTest and btGhostObject::convexSweepTest consistent. Both have an optional last argument for allowedCcdPenetration.

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Bugfix due to recent change in friction in constraint solver.
This commit is contained in:
erwin.coumans
2008-11-19 19:55:14 +00:00
parent 50344c4a23
commit decf91a34d
8 changed files with 25 additions and 17 deletions
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16
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
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@@ -760,7 +760,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
solverConstraint.m_appliedPushImpulse = 0.f;
solverConstraint.m_frictionIndex = m_tmpSolverFrictionConstraintPool.size();
if ((!infoGlobal.m_solverMode & SOLVER_USE_FRICTION_WARMSTARTING) || !cp.m_lateralFrictionInitialized)
if (!cp.m_lateralFrictionInitialized)
{
cp.m_lateralFrictionDir1 = vel - cp.m_normalWorldOnB * rel_vel;
btScalar lat_rel_vel = cp.m_lateralFrictionDir1.length2();
@@ -773,16 +773,19 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
cp.m_lateralFrictionDir2 = cp.m_lateralFrictionDir1.cross(cp.m_normalWorldOnB);
cp.m_lateralFrictionDir2.normalize();//??
addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
cp.m_lateralFrictionInitialized = true;
}
} else
{
//re-calculate friction direction every frame, todo: check if this is really needed
btPlaneSpace1(cp.m_normalWorldOnB,cp.m_lateralFrictionDir1,cp.m_lateralFrictionDir2);
addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
if (infoGlobal.m_solverMode & SOLVER_USE_FRICTION_WARMSTARTING)
{
cp.m_lateralFrictionInitialized = true;
}
}
cp.m_lateralFrictionInitialized = true;
} else
{
@@ -999,8 +1002,11 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendly(btCollisio
btManifoldPoint* pt = (btManifoldPoint*) solveManifold.m_originalContactPoint;
btAssert(pt);
pt->m_appliedImpulse = solveManifold.m_appliedImpulse;
pt->m_appliedImpulseLateral1 = m_tmpSolverFrictionConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse;
pt->m_appliedImpulseLateral2 = m_tmpSolverFrictionConstraintPool[solveManifold.m_frictionIndex+1].m_appliedImpulse;
if (infoGlobal.m_solverMode & SOLVER_USE_FRICTION_WARMSTARTING)
{
pt->m_appliedImpulseLateral1 = m_tmpSolverFrictionConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse;
pt->m_appliedImpulseLateral2 = m_tmpSolverFrictionConstraintPool[solveManifold.m_frictionIndex+1].m_appliedImpulse;
}
//do a callback here?