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add SOLVER_USE_ARTICULATED_WARMSTARTING option and APIs

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fix compile
This commit is contained in:
Chuyuan Fu
2019-10-17 16:59:15 -07:00
parent ac680be673
commit 913400eba1
10 changed files with 33 additions and 30 deletions
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4
src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h
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@@ -56,7 +56,7 @@ public:
m_contactPointFlags(0),
m_appliedImpulse(0.f),
m_prevRHS(0.f),
m_appliedImpulseLateral1(0.f),
m_appliedImpulseLateral1(0.f),
m_appliedImpulseLateral2(0.f),
m_contactMotion1(0.f),
m_contactMotion2(0.f),
@@ -117,7 +117,7 @@ public:
btScalar m_appliedImpulse;
btScalar m_prevRHS;
btScalar m_appliedImpulseLateral1;
btScalar m_appliedImpulseLateral1;
btScalar m_appliedImpulseLateral2;
btScalar m_contactMotion1;
btScalar m_contactMotion2;

2
src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp
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@@ -326,7 +326,7 @@ const char* btPersistentManifold::serialize(const class btPersistentManifold* ma
const btManifoldPoint& pt = manifold->getContactPoint(i);
dataOut->m_pointCacheAppliedImpulse[i] = pt.m_appliedImpulse;
dataOut->m_pointCachePrevRHS[i] = pt.m_prevRHS;
dataOut->m_pointCacheAppliedImpulseLateral1[i] = pt.m_appliedImpulseLateral1;
dataOut->m_pointCacheAppliedImpulseLateral1[i] = pt.m_appliedImpulseLateral1;
dataOut->m_pointCacheAppliedImpulseLateral2[i] = pt.m_appliedImpulseLateral2;
pt.m_localPointA.serialize(dataOut->m_pointCacheLocalPointA[i]);
pt.m_localPointB.serialize(dataOut->m_pointCacheLocalPointB[i]);

2
src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h
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@@ -280,7 +280,7 @@ struct btPersistentManifoldDoubleData
double m_pointCacheDistance[4];
double m_pointCacheAppliedImpulse[4];
double m_pointCachePrevRHS[4];
double m_pointCacheCombinedFriction[4];
double m_pointCacheCombinedFriction[4];
double m_pointCacheCombinedRollingFriction[4];
double m_pointCacheCombinedSpinningFriction[4];
double m_pointCacheCombinedRestitution[4];