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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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6
src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
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@@ -39,6 +39,7 @@ struct btContactSolverInfoData
btScalar m_sor;
btScalar m_erp;//used as Baumgarte factor
btScalar m_erp2;//used in Split Impulse
btScalar m_globalCfm;//constraint force mixing
int m_splitImpulse;
btScalar m_splitImpulsePenetrationThreshold;
btScalar m_linearSlop;
@@ -63,9 +64,10 @@ struct btContactSolverInfo : public btContactSolverInfoData
m_restitution = btScalar(0.);
m_maxErrorReduction = btScalar(20.);
m_numIterations = 10;
m_erp = btScalar(0.2);
m_erp = btScalar(0.4);
m_erp2 = btScalar(0.1);
m_sor = btScalar(1.3);
m_globalCfm = btScalar(0.);
m_sor = btScalar(1.);
m_splitImpulse = false;
m_splitImpulsePenetrationThreshold = -0.02f;
m_linearSlop = btScalar(0.0);