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fix for restitution

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added preliminary continuous dynamics world (under construction, not ready yet)
fix crash on when restarting simplex demo using spacebar, Thanks Jorrit Tyberghein for reporting!
This commit is contained in:
ejcoumans
2007-09-20 05:24:03 +00:00
parent a0e92efebb
commit f50f3ad722
6 changed files with 251 additions and 10 deletions
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19
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
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@@ -496,21 +496,22 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendly(btCollisio
solverConstraint.m_penetration = cp.getDistance();///btScalar(infoGlobal.m_numIterations);
solverConstraint.m_friction = cp.m_combinedFriction;
btScalar rest = restitutionCurve(rel_vel, cp.m_combinedRestitution);
if (rest <= btScalar(0.))
solverConstraint.m_restitution = restitutionCurve(rel_vel, cp.m_combinedRestitution);
if (solverConstraint.m_restitution <= btScalar(0.))
{
rest = 0.f;
solverConstraint.m_restitution = 0.f;
};
btScalar penVel = -solverConstraint.m_penetration/infoGlobal.m_timeStep;
if (rest > penVel)
{
rest = btScalar(0.);
}
solverConstraint.m_restitution = rest;
solverConstraint.m_penetration *= -(infoGlobal.m_erp/infoGlobal.m_timeStep);
if (solverConstraint.m_restitution > penVel)
{
solverConstraint.m_penetration = btScalar(0.);
}
solverConstraint.m_appliedImpulse = 0.f;
solverConstraint.m_appliedVelocityImpulse = 0.f;