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a bit of rk4 clean-up

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kubas
2014-01-09 00:59:48 +01:00
parent 4eac9a11f3
commit c5594a5826
3 changed files with 23 additions and 6 deletions
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21
src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
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@@ -381,7 +381,7 @@ struct MultiBodyInplaceSolverIslandCallback : public btSimulationIslandManager::
btMultiBodyDynamicsWorld::btMultiBodyDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btMultiBodyConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration)
:btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver,collisionConfiguration),
m_multiBodyConstraintSolver(constraintSolver)
m_multiBodyConstraintSolver(constraintSolver), m_useRK4ForMultiBodies(false)
{
//split impulse is not yet supported for Featherstone hierarchies
getSolverInfo().m_splitImpulse = false;
@@ -463,12 +463,11 @@ void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
bod->addLinkForce(j, m_gravity * bod->getLinkMass(j));
}
bool rk = false;
bool doNotUpdatePos = false;
if(bod->isMultiDof())
{
if(!rk)
if(!m_useRK4ForMultiBodies)
bod->stepVelocitiesMultiDof(solverInfo.m_timeStep, scratch_r, scratch_v, scratch_m);
else
{
@@ -577,7 +576,13 @@ void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
//
if(!doNotUpdatePos)
{
bod->stepPositionsMultiDof(1, 0, &delta_q[0]);
btScalar *pRealBuf = const_cast<btScalar *>(bod->getVelocityVector());
pRealBuf += 6 + bod->getNumDofs() + bod->getNumDofs()*bod->getNumDofs();
for(int i = 0; i < bod->getNumPosVars(); ++i)
pRealBuf[i] = delta_q[i];
//bod->stepPositionsMultiDof(1, 0, &delta_q[0]);
bod->__posUpdated = true;
}
//
@@ -636,6 +641,14 @@ void btMultiBodyDynamicsWorld::integrateTransforms(btScalar timeStep)
{
if(!bod->__posUpdated)
bod->stepPositionsMultiDof(timeStep);
else
{
btScalar *pRealBuf = const_cast<btScalar *>(bod->getVelocityVector());
pRealBuf += 6 + bod->getNumDofs() + bod->getNumDofs()*bod->getNumDofs();
bod->stepPositionsMultiDof(1, 0, pRealBuf);
bod->__posUpdated = false;
}
}
else
bod->stepPositions(timeStep);