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Add the option for the btSimulationIslandManager to avoid splitting islands (for constraint solving)

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Move the convertContact inside constraint solver to its own method
This commit is contained in:
erwin.coumans
2009-02-13 02:34:46 +00:00
parent 26d7757135
commit d886c06fa5
10 changed files with 452 additions and 363 deletions
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4
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
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@@ -30,6 +30,7 @@ class btIDebugDraw;
///Applies impulses for combined restitution and penetration recovery and to simulate friction
class btSequentialImpulseConstraintSolver : public btConstraintSolver
{
protected:
btAlignedObjectArray<btSolverBody> m_tmpSolverBodyPool;
btConstraintArray m_tmpSolverContactConstraintPool;
@@ -38,7 +39,6 @@ class btSequentialImpulseConstraintSolver : public btConstraintSolver
btAlignedObjectArray<int> m_orderTmpConstraintPool;
btAlignedObjectArray<int> m_orderFrictionConstraintPool;
protected:
btSolverConstraint& addFrictionConstraint(const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,int frictionIndex,btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation);
///m_btSeed2 is used for re-arranging the constraint rows. improves convergence/quality of friction
@@ -47,6 +47,8 @@ protected:
void initSolverBody(btSolverBody* solverBody, btCollisionObject* collisionObject);
btScalar restitutionCurve(btScalar rel_vel, btScalar restitution);
void convertContact(btPersistentManifold* manifold,const btContactSolverInfo& infoGlobal);
void resolveSplitPenetrationImpulseCacheFriendly(
btSolverBody& body1,
btSolverBody& body2,