1 files changed, 28 insertions, 8 deletions

diff --git a/extern/bullet/BulletDynamics/ConstraintSolver/ContactConstraint.cpp b/extern/bullet/BulletDynamics/ConstraintSolver/ContactConstraint.cpp
index e3603ccec67..a23d5c13f7f 100644
--- a/extern/bullet/BulletDynamics/ConstraintSolver/ContactConstraint.cpp
+++ b/extern/bullet/BulletDynamics/ConstraintSolver/ContactConstraint.cpp
@@ -23,16 +23,29 @@ static SimdScalar ContactThreshold = -10.0f;
 float useGlobalSettingContacts = false;//true;
 
 SimdScalar contactDamping = 0.9f;
-SimdScalar contactTau = .2f;//0.02f;//*0.02f;
+SimdScalar contactTau = .02f;//0.02f;//*0.02f;
 
 
 
 SimdScalar restitutionCurve(SimdScalar rel_vel, SimdScalar restitution)
 {
-	return restitution;
+	return 0.f;
 //	return restitution * GEN_min(1.0f, rel_vel / ContactThreshold);
 }
 
+float MAX_FRICTION = 100.f;
+
+SimdScalar	calculateCombinedFriction(RigidBody& body0,RigidBody& body1)
+{
+	SimdScalar friction = body0.getFriction() * body1.getFriction();
+	if (friction < 0.f)
+		friction = 0.f;
+	if (friction > MAX_FRICTION)
+		friction = MAX_FRICTION;
+	return friction;
+
+}
+
 void	applyFrictionInContactPointOld(RigidBody& body1, const SimdVector3& pos1,
                       RigidBody& body2, const SimdVector3& pos2,
 		const SimdVector3& normal,float normalImpulse, 
@@ -51,6 +64,8 @@ void	applyFrictionInContactPointOld(RigidBody& body1, const SimdVector3& pos1,
 	
 		SimdScalar rel_vel = normal.dot(vel);
 
+		float combinedFriction = calculateCombinedFriction(body1,body2);
+
 #define PER_CONTACT_FRICTION
 #ifdef PER_CONTACT_FRICTION
 		SimdVector3 lat_vel = vel - normal * rel_vel;
@@ -63,7 +78,7 @@ void	applyFrictionInContactPointOld(RigidBody& body1, const SimdVector3& pos1,
 			SimdVector3 temp2 = body2.getInvInertiaTensorWorld() * rel_pos2.cross(lat_vel); 
 			SimdScalar frictionMaxImpulse = lat_rel_vel / 
 				(body1.getInvMass() + body2.getInvMass() + lat_vel.dot(temp1.cross(rel_pos1) + temp2.cross(rel_pos2)));
-			SimdScalar frictionImpulse = (normalImpulse) * solverInfo.m_friction;
+			SimdScalar frictionImpulse = (normalImpulse) * combinedFriction;
 			GEN_set_min(frictionImpulse,frictionMaxImpulse );
 			
 			body1.applyImpulse(lat_vel * -frictionImpulse, rel_pos1);
@@ -129,7 +144,6 @@ void resolveSingleBilateral(RigidBody& body1, const SimdVector3& pos1,
 		
 	SimdScalar massTerm = 1.f / (body1.getInvMass() + body2.getInvMass());
 
-	float contactDamping = 0.9f;
 	impulse = - contactDamping * rel_vel * massTerm;//jacDiagABInv;
 
 	//SimdScalar velocityImpulse = -contactDamping * rel_vel * jacDiagABInv;
@@ -167,9 +181,11 @@ float resolveSingleCollision(RigidBody& body1, const SimdVector3& pos1,
 	
 //	if (rel_vel< 0.f)//-SIMD_EPSILON) 
 //	{
-	SimdScalar rest = restitutionCurve(rel_vel, solverInfo.m_restitution);
+	float combinedRestitution = body1.getRestitution() * body2.getRestitution();
+
+	SimdScalar rest = restitutionCurve(rel_vel, combinedRestitution);
 
-	SimdScalar timeCorrection =  1.f;///timeStep;
+	SimdScalar timeCorrection =  360.f*solverInfo.m_timeStep;
 	float damping = solverInfo.m_damping ;
 	float tau = solverInfo.m_tau;
 
@@ -252,7 +268,9 @@ SimdScalar rel_vel;
 	
 //	if (rel_vel< 0.f)//-SIMD_EPSILON) 
 //	{
-	SimdScalar rest = restitutionCurve(rel_vel, solverInfo.m_restitution);
+	float combinedRestitution = body1.getRestitution() * body2.getRestitution();
+
+	SimdScalar rest = restitutionCurve(rel_vel, combinedRestitution);
 //	SimdScalar massTerm = 1.f / (body1.getInvMass() + body2.getInvMass());
 
 	SimdScalar timeCorrection = 0.5f / solverInfo.m_timeStep ;
@@ -302,6 +320,8 @@ SimdScalar rel_vel;
 		SimdVector3 lat_vel = vel - normal * rel_vel;
 		SimdScalar lat_rel_vel = lat_vel.length();
 
+		float combinedFriction = calculateCombinedFriction(body1,body2);
+
 		if (lat_rel_vel > SIMD_EPSILON)
 		{
 			lat_vel /= lat_rel_vel;
@@ -310,7 +330,7 @@ SimdScalar rel_vel;
 			 friction_impulse = lat_rel_vel / 
 				(body1.getInvMass() + body2.getInvMass() + lat_vel.dot(temp1.cross(rel_pos1) + temp2.cross(rel_pos2)));
 			SimdScalar normal_impulse = (penetrationImpulse+
-				velocityImpulse) * solverInfo.m_friction;
+				velocityImpulse) * combinedFriction;
 			GEN_set_min(friction_impulse, normal_impulse);
 			
 			body1.applyImpulse(lat_vel * -friction_impulse, rel_pos1);