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preparation for block solver btRigidBody.

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This commit is contained in:
erwincoumans
2019-02-26 20:24:15 -08:00
parent 09dbb8ba1b
commit c44471c38c
13 changed files with 1377 additions and 188 deletions
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4
src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
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@@ -362,7 +362,7 @@ struct MultiBodyInplaceSolverIslandCallback : public btSimulationIslandManager::
};
btMultiBodyDynamicsWorld::btMultiBodyDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btMultiBodyConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration)
: btDiscreteDynamicsWorld(dispatcher, pairCache, constraintSolver, collisionConfiguration),
: btDiscreteDynamicsWorld(dispatcher, pairCache, 0, collisionConfiguration),
m_multiBodyConstraintSolver(constraintSolver)
{
//split impulse is not yet supported for Featherstone hierarchies
@@ -380,7 +380,7 @@ void btMultiBodyDynamicsWorld::setMultiBodyConstraintSolver(btMultiBodyConstrain
{
m_multiBodyConstraintSolver = solver;
m_solverMultiBodyIslandCallback->setMultiBodyConstraintSolver(solver);
btDiscreteDynamicsWorld::setConstraintSolver(solver);
//btDiscreteDynamicsWorld::setConstraintSolver(solver);
}
void btMultiBodyDynamicsWorld::setConstraintSolver(btConstraintSolver* solver)

2
src/BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.h
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@@ -156,7 +156,7 @@ protected:
btTypedConstraint** constraints,
int numConstraints,
const btContactSolverInfo& infoGlobal,
btIDebugDraw* debugDrawer) BT_OVERRIDE;
btIDebugDraw* debugDrawer) ;
public:
BT_DECLARE_ALIGNED_ALLOCATOR()