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

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Use real-time clock in AllBullet2Demos, rather than hard-coded 1./60.
This commit is contained in:
erwin coumans
2014-02-24 13:24:49 -08:00
parent fabdf8b4a9
commit dfa738c13a
7 changed files with 130 additions and 75 deletions
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9
Demos3/bullet2/BasicDemo/HingeDemo.cpp
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@@ -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);
}