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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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9
Extras/quickstep/btOdeQuickstepConstraintSolver.cpp
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@@ -58,9 +58,7 @@ class btOdeJoint;
//to bridge with ODE quickstep, we make a temp copy of the rigidbodies in each simultion island
btOdeQuickstepConstraintSolver::btOdeQuickstepConstraintSolver():
m_cfm(0.f),//1e-5f),
m_erp(0.4f)
btOdeQuickstepConstraintSolver::btOdeQuickstepConstraintSolver()
{
}
@@ -124,7 +122,7 @@ btScalar btOdeQuickstepConstraintSolver::solveGroup(btCollisionObject** /*bodies
// printf(" numJoints > numManifolds * 4 + numConstraints");
m_SorLcpSolver.SolveInternal1(m_cfm,m_erp,m_odeBodies,numBodies,m_joints,numJoints,infoGlobal,stackAlloc); ///do
m_SorLcpSolver.SolveInternal1(m_odeBodies,numBodies,m_joints,numJoints,infoGlobal,stackAlloc); ///do
//write back resulting velocities
for (int i=0;i<numBodies;i++)
@@ -264,8 +262,9 @@ void btOdeQuickstepConstraintSolver::ConvertConstraint(btPersistentManifold* man
{
manifold->refreshContactPoints(((btRigidBody*)manifold->getBody0())->getCenterOfMassTransform(),
/* manifold->refreshContactPoints(((btRigidBody*)manifold->getBody0())->getCenterOfMassTransform(),
((btRigidBody*)manifold->getBody1())->getCenterOfMassTransform());
*/
int bodyId0 = _bodyId0,bodyId1 = _bodyId1;