Properly propagate the applied impulse for the MLCP solvers, so it will be available for contact and non-contact constraints.

Use real-time clock in AllBullet2Demos, rather than hard-coded 1./60.

Demos3/AllBullet2Demos/BulletDemoEntries.h

@@ -25,14 +25,15 @@ static BulletDemoEntry allDemos[]=
 	//{"emptydemo",EmptyBulletDemo::MyCreateFunc},
 	{"BasicDemo",BasicDemo::MyCreateFunc},
 	
-	/*
+	
 	{"ChainDemo",ChainDemo::MyCreateFunc},
+	{"SIHingeDemo",HingeDemo::SICreateFunc},
 	{"PGSHingeDemo",HingeDemo::PGSCreateFunc},
 	{"DantzigHingeDemo",HingeDemo::DantzigCreateFunc},
 	{"LemkeHingeDemo",HingeDemo::LemkeCreateFunc},
 	{"InertiaHingeDemo",HingeDemo::InertiaCreateFunc},
 	{"ABMHingeDemo",HingeDemo::FeatherstoneCreateFunc},
-	*/
+	
 	
 	{"Ragdoll",RagDollDemo::MyCreateFunc},
 	{"MultiBody1",FeatherstoneDemo1::MyCreateFunc},

Demos3/AllBullet2Demos/main.cpp

@@ -5,7 +5,7 @@
 
 #include "../GpuDemos/gwenUserInterface.h"
 #include "BulletDemoEntries.h"
-
+#include "../../btgui/Timing/b3Clock.h"
 #define DEMO_SELECTION_COMBOBOX 13
 const char* startFileName = "bulletDemo.txt";
 static SimpleOpenGL3App* app=0;
@@ -132,7 +132,8 @@ void	MyComboBoxCallback(int comboId, const char* item)
 
 int main(int argc, char* argv[])
 {
-	
+	b3Clock clock;
+
 	float dt = 1./120.f;
 	int width = 1024;
 	int height=768;
@@ -167,6 +168,7 @@ int main(int argc, char* argv[])
 
 	gui->setComboBoxCallback(MyComboBoxCallback);
 
+	unsigned long int	prevTimeInMicroseconds = clock.getTimeMicroseconds();
 
 	do
 	{
@@ -191,7 +193,13 @@ int main(int argc, char* argv[])
 		if (sCurrentDemo)
 		{
 			if (!pauseSimulation)
-				sCurrentDemo->stepSimulation(1./60.f);
+			{
+				unsigned long int	curTimeInMicroseconds = clock.getTimeMicroseconds();
+				unsigned long int diff = curTimeInMicroseconds-prevTimeInMicroseconds;
+				float deltaTimeInSeconds = (diff)*1.e-6;
+				sCurrentDemo->stepSimulation(deltaTimeInSeconds);//1./60.f);
+				prevTimeInMicroseconds = curTimeInMicroseconds;
+			}
 			sCurrentDemo->renderScene();
 		}
 

Demos3/bullet2/BasicDemo/BasicDemo.cpp

@@ -145,6 +145,27 @@ 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++)
+	{
+		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");
+			}
+		}
+	}
+*/
 }
 
 

Demos3/bullet2/BasicDemo/HingeDemo.cpp

@@ -304,12 +304,18 @@ void	HingeDemo::initPhysics()
 			
 			break;
 		}
+
 		case PGS_HINGE:
 		{
 			btSolveProjectedGaussSeidel* mlcp = new btSolveProjectedGaussSeidel;
 			m_solver = new btMLCPSolver(mlcp);
 			break;
 		}
+		case SI_HINGE:
+		{
+			m_solver = new btSequentialImpulseConstraintSolver();
+			break;
+		}
 		case INERTIA_HINGE:
 		{
 			m_solver = new btSequentialImpulseConstraintSolver();
@@ -415,7 +421,7 @@ void	HingeDemo::initPhysics()
 		int index = m_glApp->m_instancingRenderer->registerGraphicsInstance(cubeShapeId,startTransform.getOrigin(),startTransform.getRotation(),color,halfExtents);
 		btBoxShape* box = new btBoxShape(halfExtents);
 		
-		float mass = 1000.f;
+		float mass = 1.f;
 		btVector3 localInertia;
 		box->calculateLocalInertia(mass,localInertia);
 		btRigidBody* body = new btRigidBody(mass,0,box,localInertia);
@@ -423,6 +429,7 @@ void	HingeDemo::initPhysics()
 		body->setWorldTransform(startTransform);
 		body->setUserIndex(index);
 		body->setAngularVelocity(btVector3(0,1,0));
+		body->setActivationState(DISABLE_DEACTIVATION);
 		m_dynamicsWorld->addRigidBody(body);
 	}
 

Demos3/bullet2/BasicDemo/HingeDemo.h

@@ -10,6 +10,7 @@ enum HINGE_CREATION_METHOD
 	DANTZIG_HINGE,
 	LEMKE_HINGE,
 	PGS_HINGE,
+	SI_HINGE,
 	INERTIA_HINGE
 };
 
@@ -34,6 +35,13 @@ public:
 	{
 		return new HingeDemo(app, PGS_HINGE);
 	}
+
+	static BulletDemoInterface* SICreateFunc(SimpleOpenGL3App* app)
+	{
+		return new HingeDemo(app, SI_HINGE);
+	}
+	
+
 	static BulletDemoInterface* InertiaCreateFunc(SimpleOpenGL3App* app)
 	{
 		return new HingeDemo(app, INERTIA_HINGE);