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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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4
src/BulletDynamics/MLCPSolvers/btMLCPSolver.h
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@@ -39,13 +39,15 @@ protected:
btVectorXu m_xSplit2;
btAlignedObjectArray<int> m_limitDependencies;
btConstraintArray m_allConstraintArray;
btAlignedObjectArray<btSolverConstraint*> m_allConstraintPtrArray;
btMLCPSolverInterface* m_solver;
int m_fallback;
btScalar m_cfm;
virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
virtual void createMLCP(const btContactSolverInfo& infoGlobal);
virtual void createMLCPFast(const btContactSolverInfo& infoGlobal);