The results with rolling friction are good so it is going to stay in Bullet.majestik666 wrote:Thanks for implementing that !
I'll update our code base and see how it behaves.
Is it something that will stay in there or is it just
some kind of experiment ?
I just improved rolling friction with anisotropic directions so that capsules, cylinders and cones don't rest in unrealistic poses. Check out the updated version in Bullet trunk, in particular the updated Bullet/Demos/RollingFrictionDemo.
All the parts of Laurent's patch that influence jitter are integrated into the latest Bullet trunk: parts related to restitution, and part related to friction.
The other part of Laurent's patch is related to the order of integration, which doesn't influence jitter, but it impacts CCD negatively so I didn't integrate that part.