How to handle static friction?

InteractiveComputerGraphics / PositionBasedDynamics

PositionBasedDynamics is a library for the physically-based simulation of rigid bodies, deformable solids and fluids.

MIT License

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How to handle static friction? #60

Closed daiday closed 5 years ago

daiday commented 6 years ago

I find that at the end of function 'velocitySolve_RigidBodyContactContaint', 'dynamic friction' is handled. But I can not find where to handle the static friction? Or how to handle static friction in PBD method?

daiday commented 6 years ago

I tried to add a new 'FrictionConstraint' mentioned in section 5.4.4, "A Survey on Position Based Dynamics, 2017", and get some positive effects. Maybe it's the proper way to handle static friction?