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quickstep improvements, thanks to Remotion

Browse Source 
http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1557
This commit is contained in:
ejcoumans
2007-10-11 03:07:11 +00:00
parent 118ac651dd
commit bb89cbcf08
4 changed files with 132 additions and 45 deletions
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17
Extras/quickstep/SorLcp.cpp
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@@ -80,7 +80,9 @@
// compute iMJ = inv(M)*J'
static void compute_invM_JT (int m, dRealMutablePtr J, dRealMutablePtr iMJ, int *jb,
OdeSolverBody* const *body, dRealPtr invI)
//OdeSolverBody* const *body,
const btAlignedObjectArray<OdeSolverBody*> &body,
dRealPtr invI)
{
int i,j;
dRealMutablePtr iMJ_ptr = iMJ;
@@ -238,7 +240,9 @@ int dRandInt2 (int n)
}
static void SOR_LCP (int m, int nb, dRealMutablePtr J, int *jb, OdeSolverBody * const *body,
static void SOR_LCP (int m, int nb, dRealMutablePtr J, int *jb,
//OdeSolverBody * const *body,
const btAlignedObjectArray<OdeSolverBody*> &body,
dRealPtr invI, dRealMutablePtr lambda, dRealMutablePtr invMforce, dRealMutablePtr rhs,
dRealMutablePtr lo, dRealMutablePtr hi, dRealPtr cfm, int *findex,
int numiter,float overRelax)
@@ -454,13 +458,20 @@ static void SOR_LCP (int m, int nb, dRealMutablePtr J, int *jb, OdeSolverBody *
}
/*
void SolveInternal1 (float global_cfm,
float global_erp,
OdeSolverBody* const *body, int nb,
BU_Joint **joint,
int nj,
const btContactSolverInfo& solverInfo)
*/
void SolveInternal1 (
float global_cfm,
float global_erp,
const btAlignedObjectArray<OdeSolverBody*> &body, int nb,
btAlignedObjectArray<BU_Joint*> &joint,
int nj, const btContactSolverInfo& solverInfo)
{
int numIter = solverInfo.m_numIterations;