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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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4
src/BulletDynamics/MLCPSolvers/btDantzigLCP.cpp
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@@ -1782,7 +1782,7 @@ bool btSolveDantzigLCP (int n, btScalar *A, btScalar *x, btScalar *b,
{
s_error = false;
printf("btSolveDantzigLCP n=%d\n",n);
// printf("btSolveDantzigLCP n=%d\n",n);
btAssert (n>0 && A && x && b && lo && hi && nub >= 0 && nub <= n);
#ifdef BT_DEBUG
{
@@ -2011,7 +2011,7 @@ bool btSolveDantzigLCP (int n, btScalar *A, btScalar *x, btScalar *b,
// our fingers and exit with the current solution.
if (s <= btScalar(0.0))
{
printf("LCP internal error, s <= 0 (s=%.4e)",(double)s);
// printf("LCP internal error, s <= 0 (s=%.4e)",(double)s);
if (i < n) {
btSetZero (x+i,n-i);
btSetZero (w+i,n-i);