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Implement true implicit friction cone, instead of friction pyramid, for btMultiBody vs btMultiBody and btMultiBody vs btRigidBody

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See data/sphere_small_zeroinertia.urdf for an example.
This commit is contained in:
erwincoumans
2017-11-23 17:38:23 -08:00
parent 874d764051
commit e6e3da11e5
3 changed files with 289 additions and 51 deletions
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6
src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h
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@@ -35,7 +35,8 @@ protected:
btMultiBodyConstraintArray m_multiBodyNonContactConstraints;
btMultiBodyConstraintArray m_multiBodyNormalContactConstraints;
btMultiBodyConstraintArray m_multiBodyFrictionContactConstraints;
btMultiBodyConstraintArray m_multiBodyLateralFrictionContactConstraints;
btMultiBodyConstraintArray m_multiBodyTorsionalFrictionContactConstraints;
btMultiBodyJacobianData m_data;
@@ -45,6 +46,9 @@ protected:
btScalar resolveSingleConstraintRowGeneric(const btMultiBodySolverConstraint& c);
//solve 2 friction directions and clamp against the implicit friction cone
btScalar resolveConeFrictionConstraintRows(const btMultiBodySolverConstraint& cA, const btMultiBodySolverConstraint& cB);
void convertContacts(btPersistentManifold** manifoldPtr,int numManifolds, const btContactSolverInfo& infoGlobal);