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+ improved split impulse constraint solver option

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+ improved friction warm starting
+ made constraint solver configuration more consistent (moved m_solverMode into btContactSolverInfo)
+ reset timing in CDTestFramework after initialization (SAP init destorts timings)
+ make it easier to change default sizes for stack allocator in btDefaultCollisionConfiguration
This commit is contained in:
erwin.coumans
2008-05-29 03:33:32 +00:00
parent 6457f5a961
commit d49aeb9dff
25 changed files with 386 additions and 149 deletions
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14
Demos/SoftDemo/SoftDemo.cpp
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@@ -132,18 +132,18 @@ void SoftDemo::clientMoveAndDisplay()
m_node->m_v+=(m_goal-m_node->m_x)/dt;
}
#define FIXED_STEP
//#define FIXED_STEP
#ifdef FIXED_STEP
m_dynamicsWorld->stepSimulation(dt=1.0f/60.f,0);
#else
//during idle mode, just run 1 simulation step maximum
int maxSimSubSteps = m_idle ? 1 : 1;
if (m_idle)
dt = 1.0/420.f;
//during idle mode, just run 1 simulation step maximum, otherwise 4 at max
int maxSimSubSteps = m_idle ? 1 : 4;
//if (m_idle)
// dt = 1.0/420.f;
int numSimSteps = 0;
numSimSteps = m_dynamicsWorld->stepSimulation(dt,maxSimSubSteps);
int numSimSteps;
numSimSteps = m_dynamicsWorld->stepSimulation(dt);
#ifdef VERBOSE_TIMESTEPPING_CONSOLEOUTPUT
if (!numSimSteps)