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preparing for stabilization investigation: useRK4 is now a btMultiBody flag (not world's), reenabled global velocities (as a flag-controlled option), made the test application easier to handle for multiple multibodiez and added a max coordinate multibody (created from btMultiBody)

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kubas
2014-01-09 01:14:48 +01:00
parent 2cbcd86de9
commit aa87e47d2d
4 changed files with 39 additions and 36 deletions
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4
src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
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@@ -381,7 +381,7 @@ struct MultiBodyInplaceSolverIslandCallback : public btSimulationIslandManager::
btMultiBodyDynamicsWorld::btMultiBodyDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btMultiBodyConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration)
:btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver,collisionConfiguration),
m_multiBodyConstraintSolver(constraintSolver), m_useRK4ForMultiBodies(false)
m_multiBodyConstraintSolver(constraintSolver)
{
//split impulse is not yet supported for Featherstone hierarchies
getSolverInfo().m_splitImpulse = false;
@@ -467,7 +467,7 @@ void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
if(bod->isMultiDof())
{
if(!m_useRK4ForMultiBodies)
if(!bod->isUsingRK4Integration())
bod->stepVelocitiesMultiDof(solverInfo.m_timeStep, scratch_r, scratch_v, scratch_m);
else
{