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add m_splitImpulseTurnErp solver setting, initialized to 0.1: more stable recovery from deeper penetrations by reducing the angular effect (if split impulse is enabled)

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Set it to 1.0 to disable the effect.
removed broken/not maintained heightfield fluid demo
add some API methods to btPersistentManifold
This commit is contained in:
erwin.coumans
2012-09-03 04:38:08 +00:00
parent c1138535f9
commit 196aa20329
25 changed files with 26 additions and 4888 deletions
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19
src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h
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@@ -107,6 +107,12 @@ public:
#endif //
SIMD_FORCE_INLINE int getNumContacts() const { return m_cachedPoints;}
/// the setNumContacts API is usually not used, except when you gather/fill all contacts manually
void setNumContacts(int cachedPoints)
{
m_cachedPoints = cachedPoints;
}
SIMD_FORCE_INLINE const btManifoldPoint& getContactPoint(int index) const
{
@@ -128,6 +134,19 @@ public:
return m_contactProcessingThreshold;
}
void setContactBreakingThreshold(btScalar contactBreakingThreshold)
{
m_contactBreakingThreshold = contactBreakingThreshold;
}
void setContactProcessingThreshold(btScalar contactProcessingThreshold)
{
m_contactProcessingThreshold = contactProcessingThreshold;
}
int getCacheEntry(const btManifoldPoint& newPoint) const;
int addManifoldPoint( const btManifoldPoint& newPoint);