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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
This commit is contained in:
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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35
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
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@@ -23,6 +23,8 @@ subject to the following restrictions:
#include "LinearMath/btIDebugDraw.h"
#include "btJacobianEntry.h"
#include "LinearMath/btMinMax.h"
#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
#ifdef USE_PROFILE
#include "LinearMath/btQuickprof.h"
@@ -123,7 +125,7 @@ btSequentialImpulseConstraintSolver::btSequentialImpulseConstraintSolver()
}
/// btSequentialImpulseConstraintSolver Sequentially applies impulses
float btSequentialImpulseConstraintSolver3::solveGroup(btPersistentManifold** manifoldPtr, int numManifolds,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer)
float btSequentialImpulseConstraintSolver3::solveGroup(btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer)
{
btContactSolverInfo info = infoGlobal;
@@ -151,6 +153,15 @@ float btSequentialImpulseConstraintSolver3::solveGroup(btPersistentManifold** ma
}
}
}
{
int j;
for (j=0;j<numConstraints;j++)
{
btTypedConstraint* constraint = constraints[j];
constraint->buildJacobian();
}
}
//should traverse the contacts random order...
int iteration;
@@ -171,6 +182,12 @@ float btSequentialImpulseConstraintSolver3::solveGroup(btPersistentManifold** ma
}
}
for (j=0;j<numConstraints;j++)
{
btTypedConstraint* constraint = constraints[j];
constraint->solveConstraint(info.m_timeStep);
}
for (j=0;j<totalPoints;j++)
{
btPersistentManifold* manifold = manifoldPtr[gOrder[j].m_manifoldIndex];
@@ -197,7 +214,7 @@ float btSequentialImpulseConstraintSolver3::solveGroup(btPersistentManifold** ma
/// btSequentialImpulseConstraintSolver Sequentially applies impulses
float btSequentialImpulseConstraintSolver::solveGroup(btPersistentManifold** manifoldPtr, int numManifolds,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer)
float btSequentialImpulseConstraintSolver::solveGroup(btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer)
{
btContactSolverInfo info = infoGlobal;
@@ -222,6 +239,14 @@ float btSequentialImpulseConstraintSolver::solveGroup(btPersistentManifold** man
}
}
}
{
int j;
for (j=0;j<numConstraints;j++)
{
btTypedConstraint* constraint = constraints[j];
constraint->buildJacobian();
}
}
//should traverse the contacts random order...
int iteration;
@@ -230,6 +255,12 @@ float btSequentialImpulseConstraintSolver::solveGroup(btPersistentManifold** man
{
int j;
for (j=0;j<numConstraints;j++)
{
btTypedConstraint* constraint = constraints[j];
constraint->solveConstraint(info.m_timeStep);
}
for (j=0;j<numManifolds;j++)
{
btPersistentManifold* manifold = manifoldPtr[j];