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Allow the ForkLiftDemo to toggle between MLCP and SI solver, using F6 key.

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Apply patch for CMake config, see Issue 754 (Issue 753)
Fix a few issue with the MLCP solver: allow split impulse, and fix offset in friction dependencies
This commit is contained in:
erwin.coumans@gmail.com
2013-10-23 23:35:13 +00:00
parent e5590575a9
commit a1c962192c
15 changed files with 298 additions and 49 deletions
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2
Demos/OpenGL/DemoApplication.cpp
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@@ -817,7 +817,7 @@ void DemoApplication::pickObject(const btVector3& pickPos, const btCollisionObje
btVector3 localPivot = body->getCenterOfMassTransform().inverse() * pickPos;
if ((m_modifierKeys& BT_ACTIVE_SHIFT)==0)
if ((m_modifierKeys& BT_ACTIVE_SHIFT)!=0)
{
btTransform tr;
tr.setIdentity();