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- initialize m_unusedW to avoid some warnings.

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- added angularFactor to 'cachefriendly' constraint solver
This commit is contained in:
ejcoumans
2007-04-23 10:52:38 +00:00
parent be73a0e5d6
commit 82c8687881
3 changed files with 6 additions and 13 deletions
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1
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
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@@ -138,6 +138,7 @@ void initSolverBody(btSolverBody* solverBody, btRigidBody* rigidbody)
solverBody->m_invMass = rigidbody->getInvMass(); solverBody->m_invMass = rigidbody->getInvMass();
solverBody->m_linearVelocity = rigidbody->getLinearVelocity(); solverBody->m_linearVelocity = rigidbody->getLinearVelocity();
solverBody->m_originalBody = rigidbody; solverBody->m_originalBody = rigidbody;
solverBody->m_angularFactor = rigidbody->getAngularFactor();
} }
btScalar penetrationResolveFactor = btScalar(0.9); btScalar penetrationResolveFactor = btScalar(0.9);

13
src/BulletDynamics/ConstraintSolver/btSolverBody.h
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@@ -31,7 +31,7 @@ ATTRIBUTE_ALIGNED16 (struct) btSolverBody
btRigidBody* m_originalBody; btRigidBody* m_originalBody;
float m_invMass; float m_invMass;
float m_friction; float m_friction;
float m_unused; float m_angularFactor;
inline void getVelocityInLocalPoint(const btVector3& rel_pos, btVector3& velocity ) const inline void getVelocityInLocalPoint(const btVector3& rel_pos, btVector3& velocity ) const
{ {
@@ -42,7 +42,7 @@ ATTRIBUTE_ALIGNED16 (struct) btSolverBody
inline void internalApplyImpulse(const btVector3& linearComponent, const btVector3& angularComponent,btScalar impulseMagnitude) inline void internalApplyImpulse(const btVector3& linearComponent, const btVector3& angularComponent,btScalar impulseMagnitude)
{ {
m_linearVelocity += linearComponent*impulseMagnitude; m_linearVelocity += linearComponent*impulseMagnitude;
m_angularVelocity += angularComponent*impulseMagnitude; m_angularVelocity += angularComponent*impulseMagnitude*m_angularFactor;
} }
void writebackVelocity() void writebackVelocity()
@@ -65,15 +65,6 @@ ATTRIBUTE_ALIGNED16 (struct) btSolverBody
inline void applyImpulse(const btVector3& impulse,const btVector3& rel_pos)
{
if (m_invMass)
{
m_linearVelocity += impulse * m_invMass;
btVector3 torqueImpulse = rel_pos.cross(impulse);
// m_angularVelocity += m_invInertiaWorld * torqueImpulse;
}
}
}; };

1
src/LinearMath/btQuadWord.h
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@@ -66,6 +66,7 @@ class btQuadWord
m_x=x; m_x=x;
m_y=y; m_y=y;
m_z=z; m_z=z;
m_unusedW = 0.f;
} }
/* void getValue(btScalar *m) const /* void getValue(btScalar *m) const