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One of the last parts of the refactoring (hopefully), made most members of btCollisionObject protected.

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Also did some work on improving the constraint solver.
This commit is contained in:
ejcoumans
2006-11-02 03:42:53 +00:00
parent 82ba30caa6
commit 4050da0e2f
34 changed files with 485 additions and 265 deletions
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24
src/BulletDynamics/ConstraintSolver/btContactConstraint.cpp
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@@ -164,7 +164,8 @@ float resolveSingleFriction(
float combinedFriction = cpd->m_friction;
btScalar limit = cpd->m_appliedImpulse * combinedFriction;
//if (contactPoint.m_appliedImpulse>0.f)
if (cpd->m_appliedImpulse>0.f)
//friction
{
//apply friction in the 2 tangential directions
@@ -182,11 +183,12 @@ float resolveSingleFriction(
// calculate j that moves us to zero relative velocity
j1 = -vrel * cpd->m_jacDiagABInvTangent0;
float total = cpd->m_accumulatedTangentImpulse0 + j1;
GEN_set_min(total, limit);
GEN_set_max(total, -limit);
j1 = total - cpd->m_accumulatedTangentImpulse0;
cpd->m_accumulatedTangentImpulse0 = total;
float oldTangentImpulse = cpd->m_accumulatedTangentImpulse0;
cpd->m_accumulatedTangentImpulse0 = oldTangentImpulse + j1;
GEN_set_min(cpd->m_accumulatedTangentImpulse0, limit);
GEN_set_max(cpd->m_accumulatedTangentImpulse0, -limit);
j1 = cpd->m_accumulatedTangentImpulse0 - oldTangentImpulse;
}
{
// 2nd tangent
@@ -195,11 +197,11 @@ float resolveSingleFriction(
// calculate j that moves us to zero relative velocity
j2 = -vrel * cpd->m_jacDiagABInvTangent1;
float total = cpd->m_accumulatedTangentImpulse1 + j2;
GEN_set_min(total, limit);
GEN_set_max(total, -limit);
j2 = total - cpd->m_accumulatedTangentImpulse1;
cpd->m_accumulatedTangentImpulse1 = total;
float oldTangentImpulse = cpd->m_accumulatedTangentImpulse1;
cpd->m_accumulatedTangentImpulse1 = oldTangentImpulse + j2;
GEN_set_min(cpd->m_accumulatedTangentImpulse1, limit);
GEN_set_max(cpd->m_accumulatedTangentImpulse1, -limit);
j2 = cpd->m_accumulatedTangentImpulse1 - oldTangentImpulse;
}
#ifdef USE_INTERNAL_APPLY_IMPULSE