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Merge pull request #1463 from erwincoumans/master

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fixes related to torsional friction, due to recent cone friction update.
This commit is contained in:
erwincoumans
2017-11-28 21:18:57 -08:00
committed by GitHub
parent 18e7c3088f 8ff75e11cd
commit e76804173a
6 changed files with 46 additions and 5 deletions
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3
src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
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@@ -29,7 +29,8 @@ enum btSolverMode
SOLVER_CACHE_FRIENDLY = 128,
SOLVER_SIMD = 256,
SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS = 512,
SOLVER_ALLOW_ZERO_LENGTH_FRICTION_DIRECTIONS = 1024
SOLVER_ALLOW_ZERO_LENGTH_FRICTION_DIRECTIONS = 1024,
SOLVER_DISABLE_IMPLICIT_CONE_FRICTION = 2048
};
struct btContactSolverInfoData

32
src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp
View File

@@ -78,7 +78,7 @@ btScalar btMultiBodyConstraintSolver::solveSingleIteration(int iteration, btColl
btMultiBodySolverConstraint& frictionConstraint = m_multiBodyLateralFrictionContactConstraints[index];
btScalar totalImpulse = m_multiBodyNormalContactConstraints[frictionConstraint.m_frictionIndex].m_appliedImpulse;
if (infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)
if (infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS && ((infoGlobal.m_solverMode&SOLVER_DISABLE_IMPLICIT_CONE_FRICTION)==0))
{
j1++;
int index2 = j1;//iteration&1? j1 : m_multiBodyFrictionContactConstraints.size()-1-j1;
@@ -91,7 +91,11 @@ btScalar btMultiBodyConstraintSolver::solveSingleIteration(int iteration, btColl
frictionConstraint.m_upperLimit = frictionConstraint.m_friction*totalImpulse;
frictionConstraintB.m_lowerLimit = -(frictionConstraintB.m_friction*totalImpulse);
frictionConstraintB.m_upperLimit = frictionConstraintB.m_friction*totalImpulse;
resolveConeFrictionConstraintRows(frictionConstraint,frictionConstraintB);
leastSquaredResidual += resolveConeFrictionConstraintRows(frictionConstraint,frictionConstraintB);
if(frictionConstraint.m_multiBodyA)
frictionConstraint.m_multiBodyA->setPosUpdated(false);
if(frictionConstraint.m_multiBodyB)
frictionConstraint.m_multiBodyB->setPosUpdated(false);
}
}
else
@@ -112,6 +116,30 @@ btScalar btMultiBodyConstraintSolver::solveSingleIteration(int iteration, btColl
}
}
}
for (int j1=0;j1<this->m_multiBodyTorsionalFrictionContactConstraints.size();j1++)
{
if (iteration < infoGlobal.m_numIterations)
{
int index = j1;//iteration&1? j1 : m_multiBodyFrictionContactConstraints.size()-1-j1;
btMultiBodySolverConstraint& frictionConstraint = m_multiBodyTorsionalFrictionContactConstraints[index];
btScalar totalImpulse = m_multiBodyNormalContactConstraints[frictionConstraint.m_frictionIndex].m_appliedImpulse;
//adjust friction limits here
if (totalImpulse>btScalar(0))
{
frictionConstraint.m_lowerLimit = -(frictionConstraint.m_friction*totalImpulse);
frictionConstraint.m_upperLimit = frictionConstraint.m_friction*totalImpulse;
btScalar residual = resolveSingleConstraintRowGeneric(frictionConstraint);
leastSquaredResidual += residual*residual;
if(frictionConstraint.m_multiBodyA)
frictionConstraint.m_multiBodyA->setPosUpdated(false);
if(frictionConstraint.m_multiBodyB)
frictionConstraint.m_multiBodyB->setPosUpdated(false);
}
}
}
return leastSquaredResidual;
}