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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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2
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
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@@ -56,6 +56,7 @@ subject to the following restrictions:
#include <algorithm>
btDiscreteDynamicsWorld::btDiscreteDynamicsWorld(btConstraintSolver* constraintSolver)
:btDynamicsWorld(),
m_constraintSolver(constraintSolver? constraintSolver: new btSequentialImpulseConstraintSolver),
@@ -69,6 +70,7 @@ m_profileTimings(0)
m_ownsConstraintSolver = (constraintSolver==0);
}
btDiscreteDynamicsWorld::btDiscreteDynamicsWorld(btDispatcher* dispatcher,btOverlappingPairCache* pairCache,btConstraintSolver* constraintSolver)
:btDynamicsWorld(dispatcher,pairCache),
m_constraintSolver(constraintSolver? constraintSolver: new btSequentialImpulseConstraintSolver),

8
src/BulletDynamics/Dynamics/btRigidBody.cpp
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@@ -116,18 +116,18 @@ btRigidBody::btRigidBody( float mass,const btTransform& worldTransform,btCollisi
//note there this influences deactivation thresholds!
float gClippedAngvelThresholdSqr = 0.01f;
float gClippedLinearThresholdSqr = 0.01f;
float gJitterVelocityDampingFactor = 1.0f;
float gJitterVelocityDampingFactor = 1.f;
#endif //EXPERIMENTAL_JITTER_REMOVAL
void btRigidBody::predictIntegratedTransform(btScalar timeStep,btTransform& predictedTransform)
{
#ifdef EXPERIMENTAL_JITTER_REMOVAL
if (wantsSleeping())
//if (wantsSleeping())
{
//clip to avoid jitter
// if ((m_angularVelocity.length2() < gClippedAngvelThresholdSqr) &&
// (m_linearVelocity.length2() < gClippedLinearThresholdSqr))
if ((m_angularVelocity.length2() < gClippedAngvelThresholdSqr) &&
(m_linearVelocity.length2() < gClippedLinearThresholdSqr))
{
m_angularVelocity *= gJitterVelocityDampingFactor;
m_linearVelocity *= gJitterVelocityDampingFactor;

2
src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp
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@@ -194,4 +194,4 @@ void btSimpleDynamicsWorld::setConstraintSolver(btConstraintSolver* solver)
}
m_ownsConstraintSolver = false;
m_constraintSolver = solver;
}
}