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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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3
src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h
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@@ -73,7 +73,8 @@ public:
///this method should not be called, it was just used during porting/integration of Featherstone btMultiBody, providing backwards compatibility but no support for btMultiBodyConstraint (only contact constraints)
virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer,btDispatcher* dispatcher);
virtual btScalar solveGroupCacheFriendlyFinish(btCollisionObject** bodies,int numBodies,const btContactSolverInfo& infoGlobal);
virtual void solveMultiBodyGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,btMultiBodyConstraint** multiBodyConstraints, int numMultiBodyConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer,btDispatcher* dispatcher);
};