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Usually m_contactNormal2 == -m_contactNormal1, but not always, so

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use a separate contactNormal1/contactNormal2 for each body in btSolverConstraint.

Thanks to Richard McDaniel for the patch.
This commit is contained in:
erwin.coumans
2012-12-12 23:21:51 +00:00
parent fe92502332
commit 1d4a5d950d
8 changed files with 111 additions and 86 deletions
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4
src/BulletDynamics/ConstraintSolver/btSolverConstraint.h
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@@ -32,10 +32,10 @@ ATTRIBUTE_ALIGNED16 (struct) btSolverConstraint
BT_DECLARE_ALIGNED_ALLOCATOR();
btVector3 m_relpos1CrossNormal;
btVector3 m_contactNormal;
btVector3 m_contactNormal1;
btVector3 m_relpos2CrossNormal;
//btVector3 m_contactNormal2;//usually m_contactNormal2 == -m_contactNormal
btVector3 m_contactNormal2; //usually m_contactNormal2 == -m_contactNormal1, but not always
btVector3 m_angularComponentA;
btVector3 m_angularComponentB;