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separate external force solve from constraint solve and eliminate damping in external force solve

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Xuchen Han
2019-07-10 16:08:46 -07:00
parent c4e316f005
commit 77d670ae41
2 changed files with 295 additions and 282 deletions
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src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h
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@@ -111,6 +111,8 @@ public:
virtual void setMultiBodyConstraintSolver(btMultiBodyConstraintSolver* solver);
virtual void setConstraintSolver(btConstraintSolver* solver);
virtual void getAnalyticsData(btAlignedObjectArray<struct btSolverAnalyticsData>& m_islandAnalyticsData) const;
virtual void solveExternalForces(btContactSolverInfo& solverInfo);
};
#endif //BT_MULTIBODY_DYNAMICS_WORLD_H