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more solver experiments, randomize the order of contact points, not just manifolds

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use #defines for constants, rather then const btScalar
This commit is contained in:
ejcoumans
2006-11-04 05:22:36 +00:00
parent c4c4523a4e
commit 23c64fb0db
11 changed files with 71 additions and 51 deletions
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5
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
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@@ -29,8 +29,9 @@ class btIDebugDraw;
/// Applies impulses for combined restitution and penetration recovery and to simulate friction
class btSequentialImpulseConstraintSolver : public btConstraintSolver
{
float solve(btPersistentManifold* manifold, const btContactSolverInfo& info,int iter,btIDebugDraw* debugDrawer);
float solveFriction(btPersistentManifold* manifoldPtr, const btContactSolverInfo& info,int iter,btIDebugDraw* debugDrawer);
float solve(btRigidBody* body0,btRigidBody* body1, btManifoldPoint& cp, const btContactSolverInfo& info,int iter,btIDebugDraw* debugDrawer);
float solveFriction(btRigidBody* body0,btRigidBody* body1, btManifoldPoint& cp, const btContactSolverInfo& info,int iter,btIDebugDraw* debugDrawer);
void prepareConstraints(btPersistentManifold* manifoldPtr, const btContactSolverInfo& info,btIDebugDraw* debugDrawer);
ContactSolverFunc m_contactDispatch[MAX_CONTACT_SOLVER_TYPES][MAX_CONTACT_SOLVER_TYPES];