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

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Both SIMD and scalar version is supported.
This commit is contained in:
erwin.coumans
2009-06-10 22:04:06 +00:00
parent b0d5fbcc6c
commit acf8ed3de5
4 changed files with 151 additions and 15 deletions
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26
src/BulletDynamics/ConstraintSolver/btSolverBody.h
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@@ -115,7 +115,7 @@ ATTRIBUTE_ALIGNED16 (struct) btSolverBody
btScalar m_friction;
btRigidBody* m_originalBody;
btVector3 m_pushVelocity;
//btVector3 m_turnVelocity;
btVector3 m_turnVelocity;
SIMD_FORCE_INLINE void getVelocityInLocalPointObsolete(const btVector3& rel_pos, btVector3& velocity ) const
@@ -145,12 +145,18 @@ ATTRIBUTE_ALIGNED16 (struct) btSolverBody
}
}
/*
SIMD_FORCE_INLINE void internalApplyPushImpulse(const btVector3& linearComponent, const btVector3& angularComponent,btScalar impulseMagnitude)
{
if (m_originalBody)
{
m_pushVelocity += linearComponent*impulseMagnitude;
m_turnVelocity += angularComponent*(impulseMagnitude*m_angularFactor);
}
}
void writebackVelocity()
{
if (m_invMass)
if (m_originalBody)
{
m_originalBody->setLinearVelocity(m_originalBody->getLinearVelocity()+ m_deltaLinearVelocity);
m_originalBody->setAngularVelocity(m_originalBody->getAngularVelocity()+m_deltaAngularVelocity);
@@ -158,14 +164,20 @@ ATTRIBUTE_ALIGNED16 (struct) btSolverBody
//m_originalBody->setCompanionId(-1);
}
}
*/
void writebackVelocity(btScalar timeStep=0)
void writebackVelocity(btScalar timeStep)
{
if (m_originalBody)
{
m_originalBody->setLinearVelocity(m_originalBody->getLinearVelocity()+m_deltaLinearVelocity);
m_originalBody->setLinearVelocity(m_originalBody->getLinearVelocity()+ m_deltaLinearVelocity);
m_originalBody->setAngularVelocity(m_originalBody->getAngularVelocity()+m_deltaAngularVelocity);
//correct the position/orientation based on push/turn recovery
btTransform newTransform;
btTransformUtil::integrateTransform(m_originalBody->getWorldTransform(),m_pushVelocity,m_turnVelocity,timeStep,newTransform);
m_originalBody->setWorldTransform(newTransform);
//m_originalBody->setCompanionId(-1);
}
}