Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

remove src/BulletDynamics/Featherstone/btMultiBodyBlockConstraintSolver.cpp and examples/ConstraintSolvers/* code

Browse Source 
revert changes to btMultiBodyConstraintSolver/btSequentialImpulseConstraintSolver related to btMultiBodyBlockConstraintSolver
This commit is contained in:
erwincoumans
2019-02-27 17:10:17 -08:00
parent 48d84e7899
commit 36a9dcf368
21 changed files with 1006 additions and 3224 deletions
Download Patch File Download Diff File Expand all files Collapse all files

3
examples/BlockSolver/btBlockSolver.cpp
View File

@@ -128,7 +128,6 @@ btScalar btBlockSolver::solveGroup(btCollisionObject * *bodies, int numBodies, b
int maxIterations = siData.m_maxOverrideNumSolverIterations > info.m_numIterations ? siData.m_maxOverrideNumSolverIterations : info.m_numIterations;
for (int iteration = 0; iteration < maxIterations; iteration++)
//for ( int iteration = maxIterations-1 ; iteration >= 0;iteration--)
{
leastSquaresResidual = btSequentialImpulseConstraintSolver::solveSingleIterationInternal(siData, iteration, constraints, numConstraints, info);
@@ -150,7 +149,7 @@ btScalar btBlockSolver::solveGroup(btCollisionObject * *bodies, int numBodies, b
void btBlockSolver::solveMultiBodyGroup(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifold, int numManifolds, btTypedConstraint** constraints, int numConstraints, btMultiBodyConstraint** multiBodyConstraints, int numMultiBodyConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btDispatcher* dispatcher)
{
//btMultiBodyConstraintSolver::solveMultiBodyGroup(bodies, numBodies, manifold, numManifolds, constraints, numConstraints, multiBodyConstraints, numMultiBodyConstraints, info, debugDrawer, dispatcher);
btMultiBodyConstraintSolver::solveMultiBodyGroup(bodies, numBodies, manifold, numManifolds, constraints, numConstraints, multiBodyConstraints, numMultiBodyConstraints, info, debugDrawer, dispatcher);
}
void btBlockSolver::reset()