Re-enabled split impulse: avoids adding linear/angular momentum due to penetration recovery.

Both SIMD and scalar version is supported.
2009-06-10 22:04:06 +00:00
parent b0d5fbcc6c
commit acf8ed3de5
4 changed files with 151 additions and 15 deletions
--- a/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
+++ b/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
@@ -47,11 +47,16 @@ protected:

 	void	convertContact(btPersistentManifold* manifold,const btContactSolverInfo& infoGlobal);

+
+	void	resolveSplitPenetrationSIMD(
+        btSolverBody& body1,
+        btSolverBody& body2,
+        const btSolverConstraint& contactConstraint);
+
 	void	resolveSplitPenetrationImpulseCacheFriendly(
        btSolverBody& body1,
        btSolverBody& body2,
-        const btSolverConstraint& contactConstraint,
-        const btContactSolverInfo& solverInfo);
+        const btSolverConstraint& contactConstraint);

 	//internal method
 	int	getOrInitSolverBody(btCollisionObject& body);