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updated Bullet sequential impulse constraint solver, so it matches 100% ODE PGS quickstep solver innerloop, mainly by renaming variables...

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This commit is contained in:
erwin.coumans
2008-11-26 00:27:35 +00:00
parent 09aa2dbbe7
commit 82047e601e
28 changed files with 646 additions and 1135 deletions
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2
Demos/AllBulletDemos/DemoEntries.cpp
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@@ -143,7 +143,7 @@ btDemoEntry g_demoEntries[] =
{"SoftBody Cluster Stack Mixed",SoftDemo27::Create},
// {"SliderConstraint",SliderConstraintDemo::Create},
// {"CcdPhysicsDemo", CcdPhysicsDemo::Create},
{"CcdPhysicsDemo", CcdPhysicsDemo::Create},
// {"ConcaveRaycastDemo",ConcaveRaycastDemo::Create},
//{"BspDemo", BspDemo::Create},
// {"Raytracer Test",Raytracer::Create},

6
Demos/AllBulletDemos/Main.cpp
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@@ -71,7 +71,7 @@ void setDefaultSettings()
{
viewX = 0.0f;
viewY = 0.0f;
framePeriod = 1;//16;//16;//todo: test if this value should be 0
framePeriod = 6;//16;//16;//todo: test if this value should be 0
width = 800;//640;
height = 600;//1024;//480;
@@ -87,8 +87,8 @@ void setDefaultSettings()
gUseSplitImpulse = 0;
gUseWarmstarting = 1;
gRandomizeConstraints = 1;
gErp = 0.2f;
gSlop=0.01f;
gErp = 0.4f;
gSlop=0.0f;
gErp2 = 0.1f;
gWarmStartingParameter = 0.85f;