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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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16
src/BulletDynamics/ConstraintSolver/btSolverConstraint.h
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@@ -19,6 +19,7 @@ subject to the following restrictions:
class btRigidBody;
#include "LinearMath/btVector3.h"
#include "LinearMath/btMatrix3x3.h"
#include "btJacobianEntry.h"
//#define NO_FRICTION_TANGENTIALS 1
@@ -27,6 +28,11 @@ ATTRIBUTE_ALIGNED16 (struct) btSolverConstraint
{
BT_DECLARE_ALIGNED_ALLOCATOR();
#ifdef _USE_JACOBIAN
btJacobianEntry m_jac;
#endif
btVector3 m_relpos1CrossNormal;
btVector3 m_contactNormal;
@@ -34,10 +40,10 @@ ATTRIBUTE_ALIGNED16 (struct) btSolverConstraint
btVector3 m_angularComponentA;
btVector3 m_angularComponentB;
mutable btScalar m_appliedPushImpulse;
mutable btScalar m_appliedPushImpulse;
mutable btScalar m_appliedImpulse;
int m_solverBodyIdA;
int m_solverBodyIdB;
@@ -51,8 +57,10 @@ ATTRIBUTE_ALIGNED16 (struct) btSolverConstraint
int m_constraintType;
int m_frictionIndex;
void* m_originalContactPoint;
int m_unusedPadding[1];
btScalar m_rhs;
btScalar m_cfm;
btScalar m_lowerLimit;
btScalar m_upperLimit;
enum btSolverConstraintType
{