[Bf-blender-cvs] SVN commit: /data/svn/bf-blender [20534] trunk/blender/extern/bullet2/src/ BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp: Anisotropic Friction bugfix for #18854 http://projects.blender.org/tracker /index.php?func=detail&aid=18854&group_id=9&atid=125

[Erwin Coumans]

Revision: 20534
          http://projects.blender.org/plugins/scmsvn/viewcvs.php?view=rev&root=bf-blender&revision=20534
Author:   erwin
Date:     2009-05-31 18:22:22 +0200 (Sun, 31 May 2009)

Log Message:
-----------
Anisotropic Friction bugfix for #18854 http://projects.blender.org/tracker/index.php?func=detail&aid=18854&group_id=9&atid=125
Thanks to Campbell for the reproduction case!

Modified Paths:
--------------
    trunk/blender/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp

Modified: trunk/blender/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
===================================================================
--- trunk/blender/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp	2009-05-31 15:59:54 UTC (rev 20533)
+++ trunk/blender/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp	2009-05-31 16:22:22 UTC (rev 20534)
@@ -539,9 +539,6 @@
 						if (!(infoGlobal.m_solverMode & SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION) && lat_rel_vel > SIMD_EPSILON)
 						{
 							cp.m_lateralFrictionDir1 /= btSqrt(lat_rel_vel);
-							applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir1);
-							applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir1);
-							addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
 							if((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
 							{
 								cp.m_lateralFrictionDir2 = cp.m_lateralFrictionDir1.cross(cp.m_normalWorldOnB);
@@ -550,21 +547,26 @@
 								applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir2);
 								addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
 							}
+
+							applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir1);
+							applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir1);
+							addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
 							cp.m_lateralFrictionInitialized = true;
 						} else
 						{
 							//re-calculate friction direction every frame, todo: check if this is really needed
 							btPlaneSpace1(cp.m_normalWorldOnB,cp.m_lateralFrictionDir1,cp.m_lateralFrictionDir2);
-							applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir1);
-							applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir1);
-
-							addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
 							if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
 							{
 								applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir2);
 								applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir2);
 								addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
 							}
+
+							applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir1);
+							applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir1);
+							addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
+
 							cp.m_lateralFrictionInitialized = true;
 						}