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Bugfix: allow btCollisionObjects (non-btRigidBody) to interact properly with btRigidBody for cache-friendly btSequentialImpulseConstraintSolver.

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Thanks Andy O'Neil for pointing this out.
This commit is contained in:
ejcoumans
2007-11-28 03:17:09 +00:00
parent 5c1609fb23
commit e252f5cadd
4 changed files with 100 additions and 57 deletions
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2
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
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@@ -41,7 +41,7 @@ protected:
btScalar solve(btRigidBody* body0,btRigidBody* body1, btManifoldPoint& cp, const btContactSolverInfo& info,int iter,btIDebugDraw* debugDrawer);
btScalar solveFriction(btRigidBody* body0,btRigidBody* body1, btManifoldPoint& cp, const btContactSolverInfo& info,int iter,btIDebugDraw* debugDrawer);
void prepareConstraints(btPersistentManifold* manifoldPtr, const btContactSolverInfo& info,btIDebugDraw* debugDrawer);
void addFrictionConstraint(const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,int frictionIndex,btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,btRigidBody* rb0,btRigidBody* rb1, btScalar relaxation);
void 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);
ContactSolverFunc m_contactDispatch[MAX_CONTACT_SOLVER_TYPES][MAX_CONTACT_SOLVER_TYPES];
ContactSolverFunc m_frictionDispatch[MAX_CONTACT_SOLVER_TYPES][MAX_CONTACT_SOLVER_TYPES];