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If I drop a small box (restitution=1.0) on a large static box (restitution=1.0) (ground) the box sticks to the ground and does not bounce. (same happens for sphere). I found where the restitution is forced to zero in SolveGroupCacheFriendly()
when penetration velocity is less than the reflection (I assume this is for extra stability). If I disable this the box bounces but it bounces higher than the original height (should be the same height).
I can do the same experiment with the c++ version of Bullet and the experiment works perfect (even if I comment out the similar code that forces restitution to zero).
I notice the code for SequentialImpulseConstraintSolver in Bullet is very different than BulletX. Is this because the way Bullet does it is too expensive in C#.
Do I need to do additional setup in BulletX or is this a bug?
Is Anybody looking into this already? I will start to dig deeper into the cause for this.
I have also noticed strange behavior relating to friction due to rotation.
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