Changeset 1972 for code/branches/physics/src/bullet/BulletDynamics/ConstraintSolver

Timestamp:

Oct 20, 2008, 5:40:38 PM (16 years ago)

Author:

rgrieder

Message:

Downgraded Bullet to latest tagged version: 2.72
That should give us more stability.

Location:

code/branches/physics/src/bullet/BulletDynamics/ConstraintSolver

Files:

• btContactSolverInfo.h (modified) (2 diffs)
• btSequentialImpulseConstraintSolver.cpp (modified) (3 diffs)

code/branches/physics/src/bullet/BulletDynamics/ConstraintSolver/btContactSolverInfo.h

@@ -45 +45 @@
 
         int                     m_solverMode;
-        int     m_restingContactRestitutionThreshold;
 
 
@@ -71 +70 @@
                 m_warmstartingFactor=btScalar(0.85);
                 m_solverMode = SOLVER_RANDMIZE_ORDER | SOLVER_CACHE_FRIENDLY | SOLVER_USE_WARMSTARTING;
-                m_restingContactRestitutionThreshold = 2;//resting contact lifetime threshold to disable restitution
         }
 };

code/branches/physics/src/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp

@@ -719 +719 @@
 
                                                         solverConstraint.m_friction = cp.m_combinedFriction;
-
-                                                        
-                                                        if (cp.m_lifeTime>infoGlobal.m_restingContactRestitutionThreshold)
+                                                        solverConstraint.m_restitution =  restitutionCurve(rel_vel, cp.m_combinedRestitution);
+                                                        if (solverConstraint.m_restitution <= btScalar(0.))
                                                         {
                                                                 solverConstraint.m_restitution = 0.f;
-                                                        } else
-                                                        {
-                                                                solverConstraint.m_restitution =  restitutionCurve(rel_vel, cp.m_combinedRestitution);
-                                                                if (solverConstraint.m_restitution <= btScalar(0.))
-                                                                {
-                                                                        solverConstraint.m_restitution = 0.f;
-                                                                };
-                                                        }
+                                                        };
 
                                                         
@@ -994 +986 @@
                 pt->m_appliedImpulse = solveManifold.m_appliedImpulse;
                 pt->m_appliedImpulseLateral1 = m_tmpSolverFrictionConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse;
-                pt->m_appliedImpulseLateral2 = m_tmpSolverFrictionConstraintPool[solveManifold.m_frictionIndex+1].m_appliedImpulse;
+                pt->m_appliedImpulseLateral1 = m_tmpSolverFrictionConstraintPool[solveManifold.m_frictionIndex+1].m_appliedImpulse;
 
                 //do a callback here?
@@ -1229 +1221 @@
                                 cpd->m_penetration = cp.getDistance();///btScalar(info.m_numIterations);
                                 cpd->m_friction = cp.m_combinedFriction;
-                                if (cp.m_lifeTime>info.m_restingContactRestitutionThreshold)
-                                {
-                                        cpd->m_restitution = 0.f;
-                                } else
-                                {
-                                        cpd->m_restitution = restitutionCurve(rel_vel, combinedRestitution);
-                                        if (cpd->m_restitution <= btScalar(0.))
-                                        {
-                                                cpd->m_restitution = btScalar(0.0);
-                                        };
-                                }
+                                cpd->m_restitution = restitutionCurve(rel_vel, combinedRestitution);
+                                if (cpd->m_restitution <= btScalar(0.))
+                                {
+                                        cpd->m_restitution = btScalar(0.0);
+
+                                };
                                 
                                 //restitution and penetration work in same direction so