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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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src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
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@@ -1317,7 +1317,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish(btCo
btRigidBody* body = m_tmpSolverBodyPool[i].m_originalBody;
if (body)
{
m_tmpSolverBodyPool[i].writebackVelocityAndTransform(infoGlobal.m_timeStep);
m_tmpSolverBodyPool[i].writebackVelocityAndTransform(infoGlobal.m_timeStep, infoGlobal.m_splitImpulseTurnErp);
m_tmpSolverBodyPool[i].m_originalBody->setLinearVelocity(m_tmpSolverBodyPool[i].m_linearVelocity);
m_tmpSolverBodyPool[i].m_originalBody->setAngularVelocity(m_tmpSolverBodyPool[i].m_angularVelocity);
m_tmpSolverBodyPool[i].m_originalBody->setWorldTransform(m_tmpSolverBodyPool[i].m_worldTransform);