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btMultiBodyConstraintSolver writes back the applied impulse for contact points

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(added some debugging output for this in the demos, commented-out by default)
This commit is contained in:
erwin coumans
2014-02-24 16:55:54 -08:00
parent dfa738c13a
commit d485f2b272
6 changed files with 122 additions and 13 deletions
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5
Demos3/bullet2/BasicDemo/BasicDemo.cpp
View File

@@ -145,7 +145,8 @@ void BasicDemo::renderScene()
void BasicDemo::stepSimulation(float dt)
{
m_dynamicsWorld->stepSimulation(dt);
/*
/*
//print applied force
//contact points
for (int i=0;i<m_dynamicsWorld->getDispatcher()->getNumManifolds();i++)
@@ -165,7 +166,7 @@ void BasicDemo::stepSimulation(float dt)
}
}
}
*/
*/
}

21
Demos3/bullet2/FeatherstoneMultiBodyDemo/BulletMultiBodyDemos.cpp
View File

@@ -610,8 +610,27 @@ void FeatherstoneDemo1::renderScene()
void FeatherstoneDemo1::stepSimulation(float deltaTime)
{
m_dynamicsWorld->stepSimulation(deltaTime,0);
m_dynamicsWorld->stepSimulation(deltaTime);//,0);
// CProfileManager::dumpAll();
/*
for (int i=0;i<m_dynamicsWorld->getDispatcher()->getNumManifolds();i++)
{
btPersistentManifold* contact = m_dynamicsWorld->getDispatcher()->getManifoldByIndexInternal(i);
for (int c=0;c<contact->getNumContacts();c++)
{
btManifoldPoint& pt = contact->getContactPoint(c);
btScalar dist = pt.getDistance();
if (dist< contact->getContactProcessingThreshold())
{
printf("normalImpulse[%d.%d] = %f\n",i,c,pt.m_appliedImpulse);
} else
{
printf("?\n");
}
}
}
*/
}

19
Demos3/bullet2/FeatherstoneMultiBodyDemo/MultiDofDemo.cpp
View File

@@ -46,6 +46,25 @@ void MultiDofDemo::stepSimulation(float deltaTime)
float internalTimeStep = 1./240.f;
m_dynamicsWorld->stepSimulation(deltaTime,10,internalTimeStep);
// CProfileManager::dumpAll();
/*
for (int i=0;i<m_dynamicsWorld->getDispatcher()->getNumManifolds();i++)
{
btPersistentManifold* contact = m_dynamicsWorld->getDispatcher()->getManifoldByIndexInternal(i);
for (int c=0;c<contact->getNumContacts();c++)
{
btManifoldPoint& pt = contact->getContactPoint(c);
btScalar dist = pt.getDistance();
if (dist< contact->getContactProcessingThreshold())
{
printf("normalImpulse[%d.%d] = %f\n",i,c,pt.m_appliedImpulse);
} else
{
printf("?\n");
}
}
}
*/
}