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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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src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
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@@ -113,7 +113,6 @@ void btDiscreteDynamicsWorld::saveKinematicState(btScalar timeStep)
btRigidBody* body = btRigidBody::upcast(colObj);
if (body)
{
btTransform predictedTrans;
if (body->getActivationState() != ISLAND_SLEEPING)
{
if (body->isKinematicObject())