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Applied polar decomposition patch. Fixes Issue 621. Thanks to Christian for the report, Joshua for the fix, Dongsoo for checking the fix.

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Applied picking cloth patch. Fixes Issue 646. Thanks to Dongsoo.
Applied patch Softbody updateConstraints. Fixes Issue 503. Thanks to Dave Bruce Phillips and Dongsoo.
Fix various warnigns under Mac OSX.
This commit is contained in:
erwin.coumans
2012-09-09 17:22:30 +00:00
parent e208f99289
commit 3b83428a7f
40 changed files with 811 additions and 154 deletions
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19
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
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@@ -449,6 +449,7 @@ int btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject&
{
//body has already been converted
solverBodyIdA = body.getCompanionId();
btAssert(solverBodyIdA < m_tmpSolverBodyPool.size());
} else
{
btRigidBody* rb = btRigidBody::upcast(&body);
@@ -1085,7 +1086,14 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration
{
for (int j=0;j<numConstraints;j++)
{
constraints[j]->solveConstraintObsolete(constraints[j]->getRigidBodyA(),constraints[j]->getRigidBodyB(),infoGlobal.m_timeStep);
if (constraints[j]->isEnabled())
{
int bodyAid = getOrInitSolverBody(constraints[j]->getRigidBodyA());
int bodyBid = getOrInitSolverBody(constraints[j]->getRigidBodyB());
btSolverBody& bodyA = m_tmpSolverBodyPool[bodyAid];
btSolverBody& bodyB = m_tmpSolverBodyPool[bodyBid];
constraints[j]->solveConstraintObsolete(bodyA,bodyB,infoGlobal.m_timeStep);
}
}
///solve all contact constraints using SIMD, if available
@@ -1181,7 +1189,14 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration
{
for (int j=0;j<numConstraints;j++)
{
constraints[j]->solveConstraintObsolete(constraints[j]->getRigidBodyA(),constraints[j]->getRigidBodyB(),infoGlobal.m_timeStep);
if (constraints[j]->isEnabled())
{
int bodyAid = getOrInitSolverBody(constraints[j]->getRigidBodyA());
int bodyBid = getOrInitSolverBody(constraints[j]->getRigidBodyB());
btSolverBody& bodyA = m_tmpSolverBodyPool[bodyAid];
btSolverBody& bodyB = m_tmpSolverBodyPool[bodyBid];
constraints[j]->solveConstraintObsolete(bodyA,bodyB,infoGlobal.m_timeStep);
}
}
///solve all contact constraints
int numPoolConstraints = m_tmpSolverContactConstraintPool.size();