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add warmstart

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This commit is contained in:
Chuyuan Fu
2019-10-14 17:00:09 -07:00
parent e4ba8be582
commit 08f53fc38d
6 changed files with 141 additions and 104 deletions
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5
src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h
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@@ -55,6 +55,7 @@ public:
: m_userPersistentData(0),
m_contactPointFlags(0),
m_appliedImpulse(0.f),
m_prevRHS(0.f),
m_appliedImpulseLateral1(0.f),
m_appliedImpulseLateral2(0.f),
m_contactMotion1(0.f),
@@ -79,6 +80,7 @@ public:
m_userPersistentData(0),
m_contactPointFlags(0),
m_appliedImpulse(0.f),
m_prevRHS(0.f),
m_appliedImpulseLateral1(0.f),
m_appliedImpulseLateral2(0.f),
m_contactMotion1(0.f),
@@ -114,7 +116,8 @@ public:
int m_contactPointFlags;
btScalar m_appliedImpulse;
btScalar m_appliedImpulseLateral1;
btScalar m_prevRHS;
btScalar m_appliedImpulseLateral1;
btScalar m_appliedImpulseLateral2;
btScalar m_contactMotion1;
btScalar m_contactMotion2;