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+ need to reset rigid body using 'setCenterOfMassTransform' to reset world inertia tensor

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+ fixes in compound algorithm -> recompute contact points
+ add debug drawing to some demos.
+ revert btJacobianEntry change
+ replace dCROSSMAT by btVector3::getSkewSymmetricMatrix
This commit is contained in:
erwin.coumans
2008-12-02 04:01:56 +00:00
parent f0c302f65c
commit 5383ed4930
16 changed files with 215 additions and 127 deletions
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9
src/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.cpp
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@@ -61,10 +61,9 @@ void btSolve2LinearConstraint::resolveUnilateralPairConstraint(
//this jacobian entry could be re-used for all iterations
btJacobianEntry jacA(
rel_posA1,rel_posA2,normalA,invInertiaADiag,invMassA,
btJacobianEntry jacA(world2A,world2B,rel_posA1,rel_posA2,normalA,invInertiaADiag,invMassA,
invInertiaBDiag,invMassB);
btJacobianEntry jacB(rel_posB1,rel_posB2,normalB,invInertiaADiag,invMassA,
btJacobianEntry jacB(world2A,world2B,rel_posB1,rel_posB2,normalB,invInertiaADiag,invMassA,
invInertiaBDiag,invMassB);
//const btScalar vel0 = jacA.getRelativeVelocity(linvelA,angvelA,linvelB,angvelB);
@@ -151,9 +150,9 @@ void btSolve2LinearConstraint::resolveBilateralPairConstraint(
//this jacobian entry could be re-used for all iterations
btJacobianEntry jacA(rel_posA1,rel_posA2,normalA,invInertiaADiag,invMassA,
btJacobianEntry jacA(world2A,world2B,rel_posA1,rel_posA2,normalA,invInertiaADiag,invMassA,
invInertiaBDiag,invMassB);
btJacobianEntry jacB(rel_posB1,rel_posB2,normalB,invInertiaADiag,invMassA,
btJacobianEntry jacB(world2A,world2B,rel_posB1,rel_posB2,normalB,invInertiaADiag,invMassA,
invInertiaBDiag,invMassB);
//const btScalar vel0 = jacA.getRelativeVelocity(linvelA,angvelA,linvelB,angvelB);