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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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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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4
Extras/quickstep/btSorLcp.h
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@@ -39,9 +39,7 @@ public:
dRand2_seed = 0;
}
void SolveInternal1 (float global_cfm,
float global_erp,
const btAlignedObjectArray<btOdeSolverBody*> &body, int nb,
void SolveInternal1 (const btAlignedObjectArray<btOdeSolverBody*> &body, int nb,
btAlignedObjectArray<btOdeJoint*> &joint,
int nj, const btContactSolverInfo& solverInfo,
btStackAlloc* stackAlloc