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- DemoApplication, debug text rendering was broken, glLoadIdentity() missing

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- copy user data over to child shape
- added applied impulse to btManifoldPoint
- add ContactProcessedCallback (needs test/demo)
- didn't copy over m_additionalDampingFactor into btRigidBody.
This commit is contained in:
ejcoumans
2008-02-07 08:00:16 +00:00
parent f22d338959
commit a4e63aed00
8 changed files with 60 additions and 9 deletions
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28
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
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@@ -106,7 +106,7 @@ bool MyContactDestroyedCallback(void* userPersistentData)
btSequentialImpulseConstraintSolver::btSequentialImpulseConstraintSolver()
:m_solverMode(SOLVER_RANDMIZE_ORDER | SOLVER_CACHE_FRIENDLY), //not using SOLVER_USE_WARMSTARTING,
:m_solverMode(SOLVER_RANDMIZE_ORDER | SOLVER_CACHE_FRIENDLY | SOLVER_USE_WARMSTARTING ),
m_btSeed2(0)
{
gContactDestroyedCallback = &MyContactDestroyedCallback;
@@ -386,6 +386,7 @@ void btSequentialImpulseConstraintSolver::addFrictionConstraint(const btVector3&
solverConstraint.m_frictionIndex = frictionIndex;
solverConstraint.m_friction = cp.m_combinedFriction;
solverConstraint.m_originalContactPoint = 0;
solverConstraint.m_appliedImpulse = btScalar(0.);
solverConstraint.m_appliedVelocityImpulse = 0.f;
@@ -609,6 +610,8 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
solverConstraint.m_solverBodyIdB = solverBodyIdB;
solverConstraint.m_constraintType = btSolverConstraint::BT_SOLVER_CONTACT_1D;
solverConstraint.m_originalContactPoint = &cp;
btVector3 torqueAxis0 = rel_pos1.cross(cp.m_normalWorldOnB);
solverConstraint.m_angularComponentA = rb0 ? rb0->getInvInertiaTensorWorld()*torqueAxis0 : btVector3(0,0,0);
btVector3 torqueAxis1 = rel_pos2.cross(cp.m_normalWorldOnB);
@@ -668,7 +671,14 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
solverConstraint.m_appliedImpulse = 0.f;
///warm starting (or zero if disabled)
if (m_solverMode & SOLVER_USE_WARMSTARTING)
{
solverConstraint.m_appliedImpulse = cp.m_appliedImpulse;
} else
{
solverConstraint.m_appliedImpulse = 0.f;
}
solverConstraint.m_appliedVelocityImpulse = 0.f;
@@ -830,6 +840,20 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations(
}
}
{
int numPoolConstraints = m_tmpSolverConstraintPool.size();
int j;
for (j=0;j<numPoolConstraints;j++)
{
const btSolverConstraint& solveManifold = m_tmpSolverConstraintPool[j];
btManifoldPoint* pt = (btManifoldPoint*) solveManifold.m_originalContactPoint;
btAssert(pt);
pt->m_appliedImpulse = solveManifold.m_appliedImpulse;
//do a callback here?
}
}
return 0.f;
}

4
src/BulletDynamics/ConstraintSolver/btSolverConstraint.h
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@@ -50,7 +50,9 @@ ATTRIBUTE_ALIGNED16 (struct) btSolverConstraint
int m_constraintType;
int m_frictionIndex;
int m_unusedPadding[2];
void* m_originalContactPoint;
int m_unusedPadding[1];
enum btSolverConstraintType
{

2
src/BulletDynamics/Dynamics/btRigidBody.cpp
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@@ -54,7 +54,7 @@ void btRigidBody::setupRigidBody(const btRigidBody::btRigidBodyConstructionInfo&
m_contactSolverType = 0;
m_frictionSolverType = 0;
m_additionalDamping = constructionInfo.m_additionalDamping;
m_additionalDampingFactor = constructionInfo.m_additionalDampingFactor;
m_additionalLinearDampingThresholdSqr = constructionInfo.m_additionalLinearDampingThresholdSqr;
m_additionalAngularDampingThresholdSqr = constructionInfo.m_additionalAngularDampingThresholdSqr;
m_additionalAngularDampingFactor = constructionInfo.m_additionalAngularDampingFactor;