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wrapped up first version of the FractureDemo

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move 'split impulse' / position solver before velocity solver, so that applied impulse is available for fracture
add btSliderConstraint::getAngularPos see http://code.google.com/p/bullet/issues/detail?id=489
This commit is contained in:
erwin.coumans
2011-03-18 00:20:52 +00:00
parent 74a65a6207
commit f17fa297d5
6 changed files with 172 additions and 149 deletions
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3
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
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@@ -1115,12 +1115,13 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations(
//should traverse the contacts random order...
int iteration;
{
solveGroupCacheFriendlySplitImpulseIterations(bodies ,numBodies,manifoldPtr, numManifolds,constraints,numConstraints,infoGlobal,debugDrawer,stackAlloc);
for ( iteration = 0;iteration<infoGlobal.m_numIterations;iteration++)
{
solveSingleIteration(iteration, bodies ,numBodies,manifoldPtr, numManifolds,constraints,numConstraints,infoGlobal,debugDrawer,stackAlloc);
}
solveGroupCacheFriendlySplitImpulseIterations(bodies ,numBodies,manifoldPtr, numManifolds,constraints,numConstraints,infoGlobal,debugDrawer,stackAlloc);
}
return 0.f;
}

5
src/BulletDynamics/ConstraintSolver/btSliderConstraint.h
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@@ -236,7 +236,10 @@ public:
btScalar getTargetAngMotorVelocity() { return m_targetAngMotorVelocity; }
void setMaxAngMotorForce(btScalar maxAngMotorForce) { m_maxAngMotorForce = maxAngMotorForce; }
btScalar getMaxAngMotorForce() { return m_maxAngMotorForce; }
btScalar getLinearPos() { return m_linPos; }
btScalar getLinearPos() const { return m_linPos; }
btScalar getAngularPos() const { return m_angPos; }
// access for ODE solver