Real-Time Physics Simulation Forum 2007-02-13T17:59:16+00:00 https://pybullet.org/Bullet/phpBB3/app.php/feed/topic/966 2007-02-13T17:59:16+00:00 2007-02-13T17:59:16+00:00 https://pybullet.org/Bullet/phpBB3/viewtopic.php?p=3467#p3467 <![CDATA[Box2D Prestep function]]>
By commenting out those lines, you have only partially turned off warm-starting. To turn it off completely, you need to set c->Pn = c->Pt = 0 in the pre-step. With your modification the solver is in bad shape.

Statistics: Posted by Erin Catto — Tue Feb 13, 2007 5:59 pm

]]> 2007-02-13T08:22:22+00:00 2007-02-13T08:22:22+00:00 https://pybullet.org/Bullet/phpBB3/viewtopic.php?p=3465#p3465 <![CDATA[Box2D Prestep function]]>

Code: 

// Apply normal + friction impulse/**/Vec2 P = c->Pn * c->normal + c->Pt * tangent;body1->velocity -= body1->invMass * P;body1->angularVelocity -= body1->invI * Cross(r1, P);body2->velocity += body2->invMass * P;body2->angularVelocity += body2->invI * Cross(r2, P);
When commented stacking goes unstable.

Why this code is matter?
As i understand impulses already applied and body velocities modified while performing Impulse iteration.

Statistics: Posted by chudo19 — Tue Feb 13, 2007 8:22 am

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