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improved performance, and allowed custom friction and contact solver models. See CcdPhysicsDemo #define USER_DEFINED_FRICTION_MODEL

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This commit is contained in:
ejcoumans
2006-09-20 00:49:33 +00:00
parent dad2cb634e
commit 5ed0cf5b7f
15 changed files with 211 additions and 56 deletions
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22
BulletDynamics/ConstraintSolver/ContactConstraint.h
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@@ -24,6 +24,20 @@ class RigidBody;
struct ContactSolverInfo;
class ManifoldPoint;
enum {
DEFAULT_CONTACT_SOLVER_TYPE=0,
CONTACT_SOLVER_TYPE1,
CONTACT_SOLVER_TYPE2,
USER_CONTACT_SOLVER_TYPE1,
MAX_CONTACT_SOLVER_TYPES
};
typedef float (*ContactSolverFunc)(RigidBody& body1,
RigidBody& body2,
class ManifoldPoint& contactPoint,
const ContactSolverInfo& info);
struct ConstraintPersistentData
{
inline ConstraintPersistentData()
@@ -35,7 +49,9 @@ struct ConstraintPersistentData
m_persistentLifeTime(0),
m_restitution(0.f),
m_friction(0.f),
m_penetration(0.f)
m_penetration(0.f),
m_contactSolverFunc(0),
m_frictionSolverFunc(0)
{
}
@@ -55,7 +71,9 @@ struct ConstraintPersistentData
float m_penetration;
SimdVector3 m_frictionWorldTangential0;
SimdVector3 m_frictionWorldTangential1;
ContactSolverFunc m_contactSolverFunc;
ContactSolverFunc m_frictionSolverFunc;
};