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Add support for childshape index for btCompoundShape during ContactAddedCallback,

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see example in Bullet/Demos/ConvexDecompositionDemo
Removed some warnings
This commit is contained in:
erwin.coumans
2009-08-11 00:30:41 +00:00
parent f352cca5cf
commit d67aa861f2
40 changed files with 235 additions and 113 deletions
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6
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
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@@ -97,7 +97,7 @@ void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGenericSIMD(
const btScalar deltaVel1Dotn = c.m_contactNormal.dot(body1.m_deltaLinearVelocity) + c.m_relpos1CrossNormal.dot(body1.m_deltaAngularVelocity);
const btScalar deltaVel2Dotn = -c.m_contactNormal.dot(body2.m_deltaLinearVelocity) + c.m_relpos2CrossNormal.dot(body2.m_deltaAngularVelocity);
const btScalar delta_rel_vel = deltaVel1Dotn-deltaVel2Dotn;
// const btScalar delta_rel_vel = deltaVel1Dotn-deltaVel2Dotn;
deltaImpulse -= deltaVel1Dotn*c.m_jacDiagABInv;
deltaImpulse -= deltaVel2Dotn*c.m_jacDiagABInv;
@@ -403,7 +403,7 @@ btSolverConstraint& btSequentialImpulseConstraintSolver::addFrictionConstraint(c
rel_vel = vel1Dotn+vel2Dotn;
btScalar positionalError = 0.f;
// btScalar positionalError = 0.f;
btSimdScalar velocityError = - rel_vel;
btSimdScalar velocityImpulse = velocityError * btSimdScalar(solverConstraint.m_jacDiagABInv);
@@ -871,7 +871,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
{
int i;
btPersistentManifold* manifold = 0;
btCollisionObject* colObj0=0,*colObj1=0;
// btCollisionObject* colObj0=0,*colObj1=0;
for (i=0;i<numManifolds;i++)