I've been working on my own 2D port of bullet physics in java, mostly shamelessly taking from the work of jezek to get a working implementation. I have run into an interesting case where the physics solver is adding a fictitious torque. I have a small box/square landing on a larger box/square. It looks like the smaller box is bouncing and rotating off of the larger box. I have tried this with both my implementation and jezek's with similar results. Where can I look for some way to solve this problem. It seems to me that I need to add additional contact points into the manifold, but I'm not sure where. Any ideas would be appreciated.
Code: Select all
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416 world pos = 39.171982,13.966300,4.622218
417 world pos = 39.314354,13.989042,4.669381
418 world pos = 39.456726,14.009007,4.716544
419 world pos = 39.599098,14.026195,4.763707
420 world pos = 39.741470,14.040604,4.810870
421 world pos = 39.883842,14.052235,4.858033
422 world pos = 40.026215,14.061089,4.905196
423 world pos = 40.168587,14.067164,4.952359
424 world pos = 40.310959,14.070462,4.999522
425 world pos = 40.453331,14.070983,5.046685
426 world pos = 40.595703,14.068726,5.093848
427 world pos = 40.738075,14.063690,5.141011
428 world pos = 40.880447,14.055878,5.188174
429 world pos = 41.022820,14.045287,5.235337
430 world pos = 41.165192,14.031919,5.282500
431 world pos = 41.307564,14.015772,5.329663
432 world pos = 41.449936,13.996848,5.376826
433 world pos = 41.592308,13.975146,5.423989
434 world pos = 41.734680,13.950666,5.471152
435 world pos = 41.877052,13.923409,5.518315
436 world pos = 42.019424,13.893374,5.565478
437 world pos = 42.161797,13.860561,5.612641
438 world pos = 42.304169,13.824970,5.659804
439 world pos = 42.446541,13.786602,5.706967
440 world pos = 42.588913,13.745456,5.754130
441 world pos = 42.731285,13.701531,5.801293
442 world pos = 42.873657,13.654830,5.848456
443 world pos = 43.016029,13.605350,5.895619
444 world pos = 43.158401,13.553093,5.942782
445 world pos = 43.300774,13.498057,5.989945
446 world pos = 43.443146,13.440245,6.037108
447 world pos = 43.585518,13.379654,6.084271
448 world pos = 43.727890,13.316285,6.131434
449 world pos = 43.870262,13.250139,6.178597
450 world pos = 44.012634,13.181215,6.225760
451 world pos = 44.155006,13.109513,6.272923
452 world pos = 44.297379,13.035033,6.320086
453 world pos = 44.439751,12.957776,6.367249
454 world pos = 44.582123,12.877741,6.414412
455 world pos = 44.724495,12.794928,6.461575
456 world pos = 44.866867,12.709337,6.508738
457 world pos = 45.009239,12.620969,6.555901
458 world pos = 45.151611,12.529822,6.603064
459 world pos = 45.293983,12.435898,6.650227
460 world pos = 45.436356,12.339196,6.697390
461 world pos = 45.578728,12.239717,6.744553
462 world pos = 45.721100,12.137459,6.791716
463 world pos = 45.863472,12.032424,6.838879
464 world pos = 46.005844,11.924611,6.886042
465 world pos = 46.148216,11.814020,6.933205
466 world pos = 46.290588,11.700652,6.980368
467 world pos = 46.432961,11.584506,7.027531
468 world pos = 46.575333,11.465582,7.074694
469 world pos = 46.717705,11.343880,7.121857
470 world pos = 46.860077,11.219400,7.169020
471 world pos = 47.002449,11.092143,7.216183
472 world pos = 47.144821,10.962108,7.263346
473 world pos = 47.287193,10.829295,7.310509
474 world pos = 47.429565,10.693705,7.357672
475 world pos = 47.571938,10.555336,7.404835
476 world pos = 47.714310,10.414189,7.451998
477 world pos = 47.856682,10.270266,7.499161
478 world pos = 47.999054,10.123564,7.546324
479 world pos = 48.141426,9.974084,7.593487
480 world pos = 48.283798,9.821827,7.640650
481 world pos = 48.426170,9.666792,7.687813
482 world pos = 48.568542,9.508979,7.734976
483 world pos = 48.710915,9.348388,7.782139
484 world pos = 48.853287,9.185019,7.829302
485 world pos = 48.995659,9.018873,7.876465
486 world pos = 49.138031,8.849949,7.923628
487 world pos = 49.280403,8.678247,7.970791
488 world pos = 49.422775,8.503768,8.017955
489 world pos = 49.565147,8.326510,8.065118
490 world pos = 49.707520,8.146475,8.112281
491 world pos = 49.849892,7.963662,8.159444
492 world pos = 49.992264,7.778071,8.206607
493 world pos = 50.134636,7.589702,8.253770
494 world pos = 50.277008,7.398556,8.300933
495 world pos = 50.419380,7.204632,8.348096
496 world pos = 50.561752,7.007930,8.395259
497 world pos = 50.704124,6.808450,8.442422
498 world pos = 50.846497,6.606193,8.489585
499 world pos = 50.988869,6.401157,8.536748
500 world pos = 51.131241,6.193344,8.583911
You can see that the x and y positions are increasing and they shouldn't, x should stay around 25.00 and y should converge on -1.0.