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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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25
src/BulletDynamics/MLCPSolvers/btMLCPSolver.h
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@@ -25,18 +25,23 @@ class btMLCPSolver : public btSequentialImpulseConstraintSolver
{
protected:
btMatrixXu m_A;
btVectorXu m_b;
btVectorXu m_x;
btVectorXu m_lo;
btVectorXu m_hi;
///when using 'split impulse' we solve two separate (M)LCPs
btVectorXu m_bSplit;
btVectorXu m_xSplit;
btVectorXu m_bSplit1;
btVectorXu m_xSplit2;
btAlignedObjectArray<int> m_limitDependencies;
btConstraintArray m_allConstraintArray;
btMLCPSolverInterface* m_solver;
int m_fallback;
virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
@@ -56,6 +61,20 @@ public:
m_solver = solver;
}
int getNumFallbacks() const
{
return m_fallback;
}
void setNumFallbacks(int num)
{
m_fallback = num;
}
virtual btConstraintSolverType getSolverType() const
{
return BT_MLCP_SOLVER;
}
};