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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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7
src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp
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@@ -63,7 +63,7 @@ int btSimpleDynamicsWorld::stepSimulation( float timeStep,int maxSubSteps, floa
btContactSolverInfo infoGlobal;
infoGlobal.m_timeStep = timeStep;
m_constraintSolver->solveGroup(manifoldPtr, numManifolds,infoGlobal,m_debugDrawer);
m_constraintSolver->solveGroup(manifoldPtr, numManifolds,0,0,infoGlobal,m_debugDrawer);
}
///integrate transforms
@@ -101,7 +101,10 @@ void btSimpleDynamicsWorld::addRigidBody(btRigidBody* body)
{
body->setGravity(m_gravity);
addCollisionObject(body);
if (body->getCollisionShape())
{
addCollisionObject(body);
}
}
void btSimpleDynamicsWorld::updateAabbs()