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only call buildIslands once for multibody in each timestep

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This commit is contained in:
Xuchen Han
2019-08-02 10:19:31 -07:00
parent f1e7ce9ce1
commit 3dc8abcf36
6 changed files with 20 additions and 10 deletions
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8
src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
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@@ -428,14 +428,18 @@ void btMultiBodyDynamicsWorld::forwardKinematics()
void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
{
solveExternalForces(solverInfo);
buildIslands();
solveInternalConstraints(solverInfo);
}
void btMultiBodyDynamicsWorld::buildIslands()
{
m_islandManager->buildAndProcessIslands(getCollisionWorld()->getDispatcher(), getCollisionWorld(), m_solverMultiBodyIslandCallback);
}
void btMultiBodyDynamicsWorld::solveInternalConstraints(btContactSolverInfo& solverInfo)
{
/// solve all the constraints for this island
m_islandManager->buildAndProcessIslands(getCollisionWorld()->getDispatcher(), getCollisionWorld(), m_solverMultiBodyIslandCallback);
m_solverMultiBodyIslandCallback->processConstraints();
m_constraintSolver->allSolved(solverInfo, m_debugDrawer);

1
src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h
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@@ -116,6 +116,7 @@ public:
virtual void solveExternalForces(btContactSolverInfo& solverInfo);
virtual void solveInternalConstraints(btContactSolverInfo& solverInfo);
void buildIslands();
};
#endif //BT_MULTIBODY_DYNAMICS_WORLD_H