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Fix issue in the computation of the friction vectors in contact solver

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This commit is contained in:
Daniel Chappuis 2021-04-01 22:59:20 +02:00
parent e5d9090441
commit c273e7cfe5
1 changed files with 6 additions and 7 deletions
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13
src/systems/ContactSolverSystem.cpp
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@ -532,8 +532,10 @@ void ContactSolverSystem::solve() {
// Compute the bias "b" of the constraint
decimal biasPenetrationDepth = 0.0;
if (mContactPoints[contactPointIndex].penetrationDepth > SLOP) biasPenetrationDepth = -(beta/mTimeStep) *
if (mContactPoints[contactPointIndex].penetrationDepth > SLOP) {
biasPenetrationDepth = -(beta/mTimeStep) *
max(0.0f, float(mContactPoints[contactPointIndex].penetrationDepth - SLOP));
}
decimal b = biasPenetrationDepth + mContactPoints[contactPointIndex].restitutionBias;
// Compute the Lagrange multiplier lambda
@ -662,7 +664,6 @@ void ContactSolverSystem::solve() {
mContactConstraints[c].r2CrossT1.y * deltaLambda,
mContactConstraints[c].r2CrossT1.z * deltaLambda);
// Update the velocities of the body 1 by applying the impulse P
mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].rigidBodyComponentIndexBody1].x -= mContactConstraints[c].massInverseBody1 * linearImpulseBody2.x;
mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].rigidBodyComponentIndexBody1].y -= mContactConstraints[c].massInverseBody1 * linearImpulseBody2.y;
@ -825,17 +826,15 @@ void ContactSolverSystem::storeImpulses() {
// Compute the two unit orthogonal vectors "t1" and "t2" that span the tangential friction plane
// for a contact manifold. The two vectors have to be such that : t1 x t2 = contactNormal.
void ContactSolverSystem::computeFrictionVectors(const Vector3& deltaVelocity,
ContactManifoldSolver& contact) const {
void ContactSolverSystem::computeFrictionVectors(const Vector3& deltaVelocity, ContactManifoldSolver& contact) const {
RP3D_PROFILE("ContactSolver::computeFrictionVectors()", mProfiler);
assert(contact.normal.length() > decimal(0.0));
// Compute the velocity difference vector in the tangential plane
Vector3 normalVelocity(deltaVelocity.x * contact.normal.x * contact.normal.x,
deltaVelocity.y * contact.normal.y * contact.normal.y,
deltaVelocity.z * contact.normal.z * contact.normal.z);
decimal deltaVDotNormal = deltaVelocity.dot(contact.normal);
Vector3 normalVelocity = deltaVDotNormal * contact.normal;
Vector3 tangentVelocity(deltaVelocity.x - normalVelocity.x, deltaVelocity.y - normalVelocity.y,
deltaVelocity.z - normalVelocity.z);