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process contact and non-contact constraints inside the same iteration loop

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added first draft for hingeConstraint motor
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ejcoumans
2006-12-12 03:15:11 +00:00
parent a4541d2470
commit 6dff5a218e
15 changed files with 267 additions and 203 deletions
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Extras/quickstep/OdeConstraintSolver.cpp
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@@ -70,7 +70,7 @@ m_erp(0.4f)
//iterative lcp and penalty method
float OdeConstraintSolver::solveGroup(btPersistentManifold** manifoldPtr, int numManifolds,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer)
float OdeConstraintSolver::solveGroup(btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer)
{
m_CurBody = 0;
m_CurJoint = 0;