Commit: f5dd77d290fb35ff0fe78b50efed34817bc66f51
Author: Soumya Pochirau
Date: Tue Feb 15 22:05:47 2022 +0530
Branches: soc-2021-simulation-display
https://developer.blender.org/rBf5dd77d290fb35ff0fe78b50efed34817bc66f51
Added comments to RB_dworld_get_impulse to better explain the bullet
terminologies
===================================================================
M intern/rigidbody/rb_bullet_api.cpp
===================================================================
diff --git a/intern/rigidbody/rb_bullet_api.cpp
b/intern/rigidbody/rb_bullet_api.cpp
index 3dfbcd6ba8c..99f6eb24c70 100644
--- a/intern/rigidbody/rb_bullet_api.cpp
+++ b/intern/rigidbody/rb_bullet_api.cpp
@@ -220,13 +220,16 @@ void RB_dworld_get_impulse(rbDynamicsWorld *world,
int num_norm_forces = 0;
int num_fric_forces = 0;
- /*Loop thrhough all persisent contact manifolds. */
+ /* Loop through all persisent contact manifolds. The persistant manifold
contains all contact points between
+ * 2 overlapping objects in the world. It can contain between 0 and 4
points. This is the contact point cache
+ * after reduction of the contact manifold. */
for (int i = 0; i < numManifolds; i++) {
btPersistentManifold *contactManifold =
world->dispatcher->getManifoldByIndexInternal(i);
+ /* The 2 overlapping obejcts. */
const void *obA = contactManifold->getBody0();
const void *obB = contactManifold->getBody1();
- /* Break if we cannot store any more forces. */
+ /* Break if we cannot store any more forces. upperlimit is 3 */
/* Friction cannot exist without a normal force, so counting number of
normal forces stored is enough. */
if (num_norm_forces > 2) {
break;
@@ -250,7 +253,8 @@ void RB_dworld_get_impulse(rbDynamicsWorld *world,
}
}
- /* Loop throught contact points and add impulses applied at each point.
*/
+ /* Loop throught contact points and add impulses applied at each point.
+ * Devide by time to get the equivilant force. */
for (int j = 0; j < numContacts; j++) {
btManifoldPoint &pt = contactManifold->getContactPoint(j);
if (pt.getAppliedImpulse() > 0.f || -pt.getAppliedImpulse() > 0.f) {
@@ -277,7 +281,7 @@ void RB_dworld_get_impulse(rbDynamicsWorld *world,
}
}
/* If impulse was applied at more than one point, the location of the
force is taken as average of points
- * weighted by magnitude of impulse applied at each point. */
+ * weighted by the magnitude of impulse applied at each point. */
if(fabsf(tot_impulse_magnitude)==0.0f){
continue;
}
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