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fix double precision, and remove alloca

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increase mass of the load, to show benefits of direct MLCP solver
move damping back to original location
This commit is contained in:
erwin.coumans@gmail.com
2013-10-24 18:31:27 +00:00
parent 5ca137cb54
commit 19f999ac08
6 changed files with 88 additions and 83 deletions
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src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
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@@ -979,8 +979,6 @@ void btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep)
if (body->isActive() && (!body->isStaticOrKinematicObject()))
{
body->applyDamping(timeStep);
body->predictIntegratedTransform(timeStep, predictedTrans);
btScalar squareMotion = (predictedTrans.getOrigin()-body->getWorldTransform().getOrigin()).length2();
@@ -1127,6 +1125,7 @@ void btDiscreteDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
{
//don't integrate/update velocities here, it happens in the constraint solver
body->applyDamping(timeStep);
body->predictIntegratedTransform(timeStep,body->getInterpolationWorldTransform());
}