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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.h
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@@ -45,7 +45,7 @@ public:
virtual ~OdeConstraintSolver() {}
virtual float solveGroup(btPersistentManifold** manifold,int numManifolds,const btContactSolverInfo& info,btIDebugDraw* debugDrawer = 0);
virtual float solveGroup(btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info,btIDebugDraw* debugDrawer = 0);
///setConstraintForceMixing, the cfm adds some positive value to the main diagonal
///This can improve convergence (make matrix positive semidefinite), but it can make the simulation look more 'springy'