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ping-pong back/forward in PGS solving iterations to reduce bias in constraint order

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add experimental rhs clamp in btMultiBodyJointMotor to control maximum error resolution.
This commit is contained in:
erwin coumans
2016-09-28 11:17:11 -07:00
parent cf046093ab
commit b81eb79ef5
8 changed files with 63 additions and 21 deletions
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5
src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp
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@@ -31,9 +31,12 @@ btScalar btMultiBodyConstraintSolver::solveSingleIteration(int iteration, btColl
//solve featherstone non-contact constraints
//printf("m_multiBodyNonContactConstraints = %d\n",m_multiBodyNonContactConstraints.size());
for (int j=0;j<m_multiBodyNonContactConstraints.size();j++)
{
btMultiBodySolverConstraint& constraint = m_multiBodyNonContactConstraints[j];
int index = iteration&1? j : m_multiBodyNonContactConstraints.size()-1-j;
btMultiBodySolverConstraint& constraint = m_multiBodyNonContactConstraints[index];
resolveSingleConstraintRowGeneric(constraint);
if(constraint.m_multiBodyA)