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revert constraint solver changes to allow block solver, since it breaks the multithreaded solver.

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(re-enable if/when we can redo those changes without breaking multithreading)
This commit is contained in:
Erwin Coumans
2019-09-11 08:39:05 -07:00
parent db9bc4f835
commit 93810cb09a
3 changed files with 170 additions and 800 deletions
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21
src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.h
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@@ -46,31 +46,14 @@ protected:
void writeToSolverBody(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal)
{
btSISolverSingleIterationData siData(m_tmpSolverBodyPool,
m_tmpSolverContactConstraintPool,
m_tmpSolverNonContactConstraintPool,
m_tmpSolverContactFrictionConstraintPool,
m_tmpSolverContactRollingFrictionConstraintPool,
m_orderTmpConstraintPool,
m_orderNonContactConstraintPool,
m_orderFrictionConstraintPool,
m_tmpConstraintSizesPool,
m_resolveSingleConstraintRowGeneric,
m_resolveSingleConstraintRowLowerLimit,
m_resolveSplitPenetrationImpulse,
m_kinematicBodyUniqueIdToSolverBodyTable,
m_btSeed2,
m_fixedBodyId,
m_maxOverrideNumSolverIterations);
for (int i = 0; i < numBodies; i++)
{
int bodyId = siData.getOrInitSolverBody(*bodies[i], infoGlobal.m_timeStep);
int bodyId = getOrInitSolverBody(*bodies[i], infoGlobal.m_timeStep);
btRigidBody* body = btRigidBody::upcast(bodies[i]);
if (body && body->getInvMass())
{
btSolverBody& solverBody = siData.m_tmpSolverBodyPool[bodyId];
btSolverBody& solverBody = m_tmpSolverBodyPool[bodyId];
solverBody.m_linearVelocity = body->getLinearVelocity() - solverBody.m_deltaLinearVelocity;
solverBody.m_angularVelocity = body->getAngularVelocity() - solverBody.m_deltaAngularVelocity;
}