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Merge pull request #1383 from AndreaCatania/master

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Customize restitution and friction
This commit is contained in:
erwincoumans 2017-10-23 21:00:18 +00:00 committed by GitHub
commit a50a20ab9f
3 changed files with 23 additions and 9 deletions
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19
src/BulletCollision/CollisionDispatch/btManifoldResult.cpp
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@ -22,7 +22,12 @@ subject to the following restrictions:
///This is to allow MaterialCombiner/Custom Friction/Restitution values
ContactAddedCallback gContactAddedCallback=0;
CalculateCombinedCallback gCalculateCombinedRestitutionCallback = &btManifoldResult::calculateCombinedRestitution;
CalculateCombinedCallback gCalculateCombinedFrictionCallback = &btManifoldResult::calculateCombinedFriction;
CalculateCombinedCallback gCalculateCombinedRollingFrictionCallback = &btManifoldResult::calculateCombinedRollingFriction;
CalculateCombinedCallback gCalculateCombinedSpinningFrictionCallback = &btManifoldResult::calculateCombinedSpinningFriction;
CalculateCombinedCallback gCalculateCombinedContactDampingCallback = &btManifoldResult::calculateCombinedContactDamping;
CalculateCombinedCallback gCalculateCombinedContactStiffnessCallback = &btManifoldResult::calculateCombinedContactStiffness;
btScalar btManifoldResult::calculateCombinedRollingFriction(const btCollisionObject* body0,const btCollisionObject* body1)
{
@ -134,16 +139,16 @@ void btManifoldResult::addContactPoint(const btVector3& normalOnBInWorld,const b
int insertIndex = m_manifoldPtr->getCacheEntry(newPt);
newPt.m_combinedFriction = calculateCombinedFriction(m_body0Wrap->getCollisionObject(),m_body1Wrap->getCollisionObject());
newPt.m_combinedRestitution = calculateCombinedRestitution(m_body0Wrap->getCollisionObject(),m_body1Wrap->getCollisionObject());
newPt.m_combinedRollingFriction = calculateCombinedRollingFriction(m_body0Wrap->getCollisionObject(),m_body1Wrap->getCollisionObject());
newPt.m_combinedSpinningFriction = calculateCombinedSpinningFriction(m_body0Wrap->getCollisionObject(),m_body1Wrap->getCollisionObject());
newPt.m_combinedFriction = gCalculateCombinedFrictionCallback(m_body0Wrap->getCollisionObject(),m_body1Wrap->getCollisionObject());
newPt.m_combinedRestitution = gCalculateCombinedRestitutionCallback(m_body0Wrap->getCollisionObject(),m_body1Wrap->getCollisionObject());
newPt.m_combinedRollingFriction = gCalculateCombinedRollingFrictionCallback(m_body0Wrap->getCollisionObject(),m_body1Wrap->getCollisionObject());
newPt.m_combinedSpinningFriction = gCalculateCombinedSpinningFrictionCallback(m_body0Wrap->getCollisionObject(),m_body1Wrap->getCollisionObject());
if ( (m_body0Wrap->getCollisionObject()->getCollisionFlags()& btCollisionObject::CF_HAS_CONTACT_STIFFNESS_DAMPING) ||
(m_body1Wrap->getCollisionObject()->getCollisionFlags()& btCollisionObject::CF_HAS_CONTACT_STIFFNESS_DAMPING))
{
newPt.m_combinedContactDamping1 = calculateCombinedContactDamping(m_body0Wrap->getCollisionObject(),m_body1Wrap->getCollisionObject());
newPt.m_combinedContactStiffness1 = calculateCombinedContactStiffness(m_body0Wrap->getCollisionObject(),m_body1Wrap->getCollisionObject());
newPt.m_combinedContactDamping1 = gCalculateCombinedContactDampingCallback(m_body0Wrap->getCollisionObject(),m_body1Wrap->getCollisionObject());
newPt.m_combinedContactStiffness1 = gCalculateCombinedContactStiffnessCallback(m_body0Wrap->getCollisionObject(),m_body1Wrap->getCollisionObject());
newPt.m_contactPointFlags |= BT_CONTACT_FLAG_CONTACT_STIFFNESS_DAMPING;
}

9
src/BulletCollision/CollisionDispatch/btManifoldResult.h
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@ -34,6 +34,15 @@ extern ContactAddedCallback gContactAddedCallback;
//#define DEBUG_PART_INDEX 1
/// These callbacks are used to customize the algorith that combine restitution, friction, damping, Stiffness
typedef btScalar (*CalculateCombinedCallback)(const btCollisionObject* body0,const btCollisionObject* body1);
extern CalculateCombinedCallback gCalculateCombinedRestitutionCallback;
extern CalculateCombinedCallback gCalculateCombinedFrictionCallback;
extern CalculateCombinedCallback gCalculateCombinedRollingFrictionCallback;
extern CalculateCombinedCallback gCalculateCombinedSpinningFrictionCallback;
extern CalculateCombinedCallback gCalculateCombinedContactDampingCallback;
extern CalculateCombinedCallback gCalculateCombinedContactStiffnessCallback;
///btManifoldResult is a helper class to manage contact results.
class btManifoldResult : public btDiscreteCollisionDetectorInterface::Result

4
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
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@ -952,7 +952,7 @@ void btDiscreteDynamicsWorld::createPredictiveContactsInternal( btRigidBody** bo
int index = manifold->addManifoldPoint(newPoint, isPredictive);
btManifoldPoint& pt = manifold->getContactPoint(index);
pt.m_combinedRestitution = 0;
pt.m_combinedFriction = btManifoldResult::calculateCombinedFriction(body,sweepResults.m_hitCollisionObject);
pt.m_combinedFriction = gCalculateCombinedFrictionCallback(body,sweepResults.m_hitCollisionObject);
pt.m_positionWorldOnA = body->getWorldTransform().getOrigin();
pt.m_positionWorldOnB = worldPointB;
@ -1113,7 +1113,7 @@ void btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep)
for (int p=0;p<manifold->getNumContacts();p++)
{
const btManifoldPoint& pt = manifold->getContactPoint(p);
btScalar combinedRestitution = btManifoldResult::calculateCombinedRestitution(body0, body1);
btScalar combinedRestitution = gCalculateCombinedRestitutionCallback(body0, body1);
if (combinedRestitution>0 && pt.m_appliedImpulse != 0.f)
//if (pt.getDistance()>0 && combinedRestitution>0 && pt.m_appliedImpulse != 0.f)