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first experiments with RK4

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This commit is contained in:
kubas
2014-01-09 00:56:46 +01:00
parent cb556f9525
commit e5372f3712
5 changed files with 223 additions and 61 deletions
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8
src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp
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@@ -36,6 +36,8 @@ btScalar btMultiBodyConstraintSolver::solveSingleIteration(int iteration, btColl
//if (iteration < constraint.m_overrideNumSolverIterations)
//resolveSingleConstraintRowGenericMultiBody(constraint);
resolveSingleConstraintRowGeneric(constraint);
if(constraint.m_multiBodyA) constraint.m_multiBodyA->__posUpdated = false;
if(constraint.m_multiBodyB) constraint.m_multiBodyB->__posUpdated = false;
}
//solve featherstone normal contact
@@ -44,6 +46,9 @@ btScalar btMultiBodyConstraintSolver::solveSingleIteration(int iteration, btColl
btMultiBodySolverConstraint& constraint = m_multiBodyNormalContactConstraints[j];
if (iteration < infoGlobal.m_numIterations)
resolveSingleConstraintRowGeneric(constraint);
if(constraint.m_multiBodyA) constraint.m_multiBodyA->__posUpdated = false;
if(constraint.m_multiBodyB) constraint.m_multiBodyB->__posUpdated = false;
}
//solve featherstone frictional contact
@@ -60,6 +65,9 @@ btScalar btMultiBodyConstraintSolver::solveSingleIteration(int iteration, btColl
frictionConstraint.m_lowerLimit = -(frictionConstraint.m_friction*totalImpulse);
frictionConstraint.m_upperLimit = frictionConstraint.m_friction*totalImpulse;
resolveSingleConstraintRowGeneric(frictionConstraint);
if(frictionConstraint.m_multiBodyA) frictionConstraint.m_multiBodyA->__posUpdated = false;
if(frictionConstraint.m_multiBodyB) frictionConstraint.m_multiBodyB->__posUpdated = false;
}
}
}