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fix issue introduced in previous commit, related to

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btMultiBodyConstraintSolver friction/penetration handling
This commit is contained in:
Erwin Coumans 2017-03-20 19:38:59 -07:00
parent 0b017b0f53
commit 0c874aa43a
1 changed files with 6 additions and 6 deletions
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8
src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp
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@ -441,9 +441,12 @@ void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySol
{ {
distance = cp.getDistance()+infoGlobal.m_linearSlop; distance = cp.getDistance()+infoGlobal.m_linearSlop;
} else } else
{
if (cp.m_contactPointFlags & BT_CONTACT_FLAG_FRICTION_ANCHOR)
{ {
distance = (cp.getPositionWorldOnA() - cp.getPositionWorldOnB()).dot(contactNormal); distance = (cp.getPositionWorldOnA() - cp.getPositionWorldOnB()).dot(contactNormal);
} }
}
btScalar rel_vel = 0.f; btScalar rel_vel = 0.f;
@ -541,18 +544,15 @@ void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySol
btScalar positionalError = 0.f; btScalar positionalError = 0.f;
btScalar velocityError = restitution - rel_vel;// * damping; //note for friction restitution is always set to 0 (check above) so it is acutally velocityError = -rel_vel for friction btScalar velocityError = restitution - rel_vel;// * damping; //note for friction restitution is always set to 0 (check above) so it is acutally velocityError = -rel_vel for friction
if (distance>0 && !isFriction) if (distance>0)
{ {
positionalError = 0; positionalError = 0;
velocityError -= distance / infoGlobal.m_timeStep; velocityError -= distance / infoGlobal.m_timeStep;
} else } else
{
if (cp.m_contactPointFlags & BT_CONTACT_FLAG_FRICTION_ANCHOR)
{ {
positionalError = -distance * erp/infoGlobal.m_timeStep; positionalError = -distance * erp/infoGlobal.m_timeStep;
} }
}
btScalar penetrationImpulse = positionalError*solverConstraint.m_jacDiagABInv; btScalar penetrationImpulse = positionalError*solverConstraint.m_jacDiagABInv;
btScalar velocityImpulse = velocityError *solverConstraint.m_jacDiagABInv; btScalar velocityImpulse = velocityError *solverConstraint.m_jacDiagABInv;