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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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34
src/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp
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@@ -342,40 +342,6 @@ btScalar btMultiBodyConstraint::fillMultiBodyConstraint(btMultiBodySolverConstra
solverConstraint.m_friction = 0.f; //cp.m_combinedFriction;
}
///warm starting (or zero if disabled)
/*
if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING)
{
solverConstraint.m_appliedImpulse = isFriction ? 0 : cp.m_appliedImpulse * infoGlobal.m_warmstartingFactor;
if (solverConstraint.m_appliedImpulse)
{
if (multiBodyA)
{
btScalar impulse = solverConstraint.m_appliedImpulse;
btScalar* deltaV = &data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex];
multiBodyA->applyDeltaVee(deltaV,impulse);
applyDeltaVee(data,deltaV,impulse,solverConstraint.m_deltaVelAindex,ndofA);
} else
{
if (rb0)
bodyA->internalApplyImpulse(solverConstraint.m_contactNormal1*bodyA->internalGetInvMass()*rb0->getLinearFactor(),solverConstraint.m_angularComponentA,solverConstraint.m_appliedImpulse);
}
if (multiBodyB)
{
btScalar impulse = solverConstraint.m_appliedImpulse;
btScalar* deltaV = &data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex];
multiBodyB->applyDeltaVee(deltaV,impulse);
applyDeltaVee(data,deltaV,impulse,solverConstraint.m_deltaVelBindex,ndofB);
} else
{
if (rb1)
bodyB->internalApplyImpulse(-solverConstraint.m_contactNormal2*bodyB->internalGetInvMass()*rb1->getLinearFactor(),-solverConstraint.m_angularComponentB,-(btScalar)solverConstraint.m_appliedImpulse);
}
}
} else
*/
solverConstraint.m_appliedImpulse = 0.f;
solverConstraint.m_appliedPushImpulse = 0.f;