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- Added serialization to btBvhTriangleMeshShape/btOptimizedBvh. See ConcaveDemo for example usage.

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- added bt32BitAxisSweep3, which co-exists without recompilation, using template class. This broadphase is recommended for large worlds with many objects (> 16384), until btMultiSwap is finished.
- Fixed some recent issues in Bullet 2.57 related to compound (thanks Proctoid) and memory allocations
This commit is contained in:
ejcoumans
2007-09-10 01:14:42 +00:00
parent e1c037b4c2
commit b054f375bc
20 changed files with 1585 additions and 810 deletions
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12
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
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@@ -19,7 +19,9 @@ subject to the following restrictions:
#include "btConstraintSolver.h"
class btIDebugDraw;
#include "btContactConstraint.h"
#include "btSolverBody.h"
#include "btSolverConstraint.h"
/// btSequentialImpulseConstraintSolver uses a Propagation Method and Sequentially applies impulses
@@ -29,6 +31,14 @@ class btIDebugDraw;
class btSequentialImpulseConstraintSolver : public btConstraintSolver
{
btAlignedObjectArray<btSolverBody> m_solverBodyPool;
btAlignedObjectArray<btSolverConstraint> m_solverConstraintPool;
btAlignedObjectArray<btSolverConstraint> m_solverFrictionConstraintPool;
btAlignedObjectArray<int> m_constraintOrder;
btAlignedObjectArray<int> m_frictionConstraintOrder;
protected:
btScalar solve(btRigidBody* body0,btRigidBody* body1, btManifoldPoint& cp, const btContactSolverInfo& info,int iter,btIDebugDraw* debugDrawer);
btScalar solveFriction(btRigidBody* body0,btRigidBody* body1, btManifoldPoint& cp, const btContactSolverInfo& info,int iter,btIDebugDraw* debugDrawer);