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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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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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23
BulletDynamics/ConstraintSolver/SequentialImpulseConstraintSolver.h
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@@ -19,6 +19,10 @@ subject to the following restrictions:
#include "ConstraintSolver.h"
class IDebugDraw;
#include "ContactConstraint.h"
/// SequentialImpulseConstraintSolver uses a Propagation Method and Sequentially applies impulses
/// The approach is the 3D version of Erin Catto's GDC 2006 tutorial. See http://www.gphysics.com
/// Although Sequential Impulse is more intuitive, it is mathematically equivalent to Projected Successive Overrelaxation (iterative LCP)
@@ -27,12 +31,29 @@ class SequentialImpulseConstraintSolver : public ConstraintSolver
{
float Solve(PersistentManifold* manifold, const ContactSolverInfo& info,int iter,IDebugDraw* debugDrawer);
float SolveFriction(PersistentManifold* manifoldPtr, const ContactSolverInfo& info,int iter,IDebugDraw* debugDrawer);
void PrepareConstraints(PersistentManifold* manifoldPtr, const ContactSolverInfo& info,IDebugDraw* debugDrawer);
ContactSolverFunc m_contactDispatch[MAX_CONTACT_SOLVER_TYPES][MAX_CONTACT_SOLVER_TYPES];
ContactSolverFunc m_frictionDispatch[MAX_CONTACT_SOLVER_TYPES][MAX_CONTACT_SOLVER_TYPES];
public:
SequentialImpulseConstraintSolver();
///Advanced: Override the default contact solving function for contacts, for certain types of rigidbody
///See RigidBody::m_contactSolverType and RigidBody::m_frictionSolverType
void SetContactSolverFunc(ContactSolverFunc func,int type0,int type1)
{
m_contactDispatch[type0][type1] = func;
}
///Advanced: Override the default friction solving function for contacts, for certain types of rigidbody
///See RigidBody::m_contactSolverType and RigidBody::m_frictionSolverType
void SetFrictionSolverFunc(ContactSolverFunc func,int type0,int type1)
{
m_frictionDispatch[type0][type1] = func;
}
virtual ~SequentialImpulseConstraintSolver() {}
virtual float SolveGroup(PersistentManifold** manifold,int numManifolds,const ContactSolverInfo& info, IDebugDraw* debugDrawer=0);