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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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8
src/BulletMultiThreaded/SpuSolverTask/SpuParallellSolverTask.cpp
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@@ -449,10 +449,10 @@ btScalar solveContact(btSolverBody& body1,btSolverBody& body2,const btSolverCons
normalImpulse = contactConstraint.m_appliedImpulse - oldNormalImpulse;
body1.internalApplyImpulse(contactConstraint.m_contactNormal*body1.m_invMass,
body1.applyImpulse(contactConstraint.m_contactNormal*body1.m_invMass,
contactConstraint.m_angularComponentA,normalImpulse);
body2.internalApplyImpulse(contactConstraint.m_contactNormal*body2.m_invMass,
body2.applyImpulse(contactConstraint.m_contactNormal*body2.m_invMass,
contactConstraint.m_angularComponentB,-normalImpulse);
}
@@ -1138,9 +1138,9 @@ void processSolverTask(void* userPtr, void* lsMemory)
if (constraint.m_appliedImpulse!= 0.f)
{
if (solverBodyA)
solverBodyA->internalApplyImpulse(constraint.m_contactNormal*rb0readonly->getInvMass(),constraint.m_angularComponentA,constraint.m_appliedImpulse);
solverBodyA->applyImpulse(constraint.m_contactNormal*rb0readonly->getInvMass(),constraint.m_angularComponentA,constraint.m_appliedImpulse);
if (solverBodyB)
solverBodyB->internalApplyImpulse(constraint.m_contactNormal*rb1readonly->getInvMass(),constraint.m_angularComponentB,-constraint.m_appliedImpulse);
solverBodyB->applyImpulse(constraint.m_contactNormal*rb1readonly->getInvMass(),constraint.m_angularComponentB,-constraint.m_appliedImpulse);
}