wrapped up first version of the FractureDemo

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

Demos/FractureDemo/FractureDemo.cpp

@@ -50,7 +50,7 @@ int sFrameNumber = 0;
 
 void	FractureDemo::initPhysics()
 {
-	
+
 	setTexturing(true);
 	setShadows(true);
 
@@ -73,45 +73,37 @@ void	FractureDemo::initPhysics()
 
 	//m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
 
-	m_dynamicsWorld = new btFractureDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
+	btFractureDynamicsWorld* fractureWorld = new btFractureDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
-	
+	m_dynamicsWorld = fractureWorld;
-	
+
+	m_dynamicsWorld->getDispatchInfo().m_convexMaxDistanceUseCPT = true;
+	m_ShootBoxInitialSpeed=100; 
 
 	//m_splitImpulse removes the penetration resolution from the applied impulse, otherwise objects might fracture due to deep penetrations.
 	m_dynamicsWorld->getSolverInfo().m_splitImpulse = true;
-	
-	m_dynamicsWorld->setGravity(btVector3(0,-10,0));
 
-	///create a few basic rigid bodies
-	btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
-//	btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),50);
-	
-	m_collisionShapes.push_back(groundShape);
-
-	btTransform groundTransform;
-	groundTransform.setIdentity();
-	groundTransform.setOrigin(btVector3(0,-50,0));
-
-	//We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
 	{
-		btScalar mass(0.);
+		///create a few basic rigid bodies
-
+		btCollisionShape* groundShape = new btBoxShape(btVector3(50,1,50));
-		//rigidbody is dynamic if and only if mass is non zero, otherwise static
+	///	btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),0);
-		bool isDynamic = (mass != 0.f);
+		m_collisionShapes.push_back(groundShape);
-
+		btTransform groundTransform;
-		btVector3 localInertia(0,0,0);
+		groundTransform.setIdentity();
-		if (isDynamic)
+		groundTransform.setOrigin(btVector3(0,0,0));
-			groundShape->calculateLocalInertia(mass,localInertia);
+		localCreateRigidBody(0.f,groundTransform,groundShape);
-
-		//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
-		btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
-		btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,groundShape,localInertia);
-		btRigidBody* body = new btRigidBody(rbInfo);
-
-		//add the body to the dynamics world
-		m_dynamicsWorld->addRigidBody(body);
 	}
 
+	{
+		///create a few basic rigid bodies
+		btCollisionShape* shape = new btBoxShape(btVector3(1,1,1));
+		m_collisionShapes.push_back(shape);
+		btTransform tr;
+		tr.setIdentity();
+		tr.setOrigin(btVector3(5,2,0));
+		localCreateRigidBody(0.f,tr,shape);
+	}
+
+
 
 	{
 		//create a few dynamic rigidbodies
@@ -136,45 +128,52 @@ void	FractureDemo::initPhysics()
 			colShape->calculateLocalInertia(mass,localInertia);
 
 
-	int gNumObjects = 10;
+		int gNumObjects = 10;
 
-	for (int i=0;i<gNumObjects;i++)
+		for (int i=0;i<gNumObjects;i++)
-	{
+		{
-		btTransform trans;
+			btTransform trans;
-		trans.setIdentity();
+			trans.setIdentity();
 
-		btVector3 pos(i*2*CUBE_HALF_EXTENTS ,10,0);
+			btVector3 pos(i*2*CUBE_HALF_EXTENTS ,20,0);
-		trans.setOrigin(pos);
+			trans.setOrigin(pos);
 
-		//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
+			//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
-		btDefaultMotionState* myMotionState = new btDefaultMotionState(trans);
+			btDefaultMotionState* myMotionState = new btDefaultMotionState(trans);
-		btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,colShape,localInertia);
+			btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,colShape,localInertia);
-		btFractureBody* body = new btFractureBody(rbInfo, m_dynamicsWorld);
+			btFractureBody* body = new btFractureBody(rbInfo, m_dynamicsWorld);
-		
+			body->setLinearVelocity(btVector3(0,-10,0));
-		body->setActivationState(ISLAND_SLEEPING);
 
-		m_dynamicsWorld->addRigidBody(body);
+			m_dynamicsWorld->addRigidBody(body);
-		body->setActivationState(ISLAND_SLEEPING);
 
-		
-	}
 
+		}
 
 	}
 
 
-	clientResetScene();
+
+	fractureWorld->stepSimulation(1./60.,0);
+	fractureWorld->glueCallback();
+
 
 
 }
 
+void	FractureDemo::clientResetScene()
+{
+	exitPhysics();
+	initPhysics();
+}
+
+
 void FractureDemo::clientMoveAndDisplay()
 {
 	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); 
 
 	//simple dynamics world doesn't handle fixed-time-stepping
 	float ms = getDeltaTimeMicroseconds();
-	
+
 	///step the simulation
 	if (m_dynamicsWorld)
 	{
@@ -182,13 +181,13 @@ void FractureDemo::clientMoveAndDisplay()
 		//optional but useful: debug drawing
 		m_dynamicsWorld->debugDrawWorld();
 	}
-	
+
-	
+
 
 	renderme(); 
 
 	showMessage();
-	
+
 	glFlush();
 
 	swapBuffers();
@@ -203,12 +202,11 @@ void FractureDemo::showMessage()
 		glDisable(GL_LIGHTING);
 		glColor3f(0, 0, 0);
 		char buf[124];
-		
+
-		int lineWidth=350;
+		int lineWidth=380;
 		int xStart = m_glutScreenWidth - lineWidth;
 		int yStart = 20;
 
-		glRasterPos3f(xStart, yStart, 0);
 		btFractureDynamicsWorld* world = (btFractureDynamicsWorld*)m_dynamicsWorld;
 		if (world->getFractureMode())
 		{
@@ -217,12 +215,14 @@ void FractureDemo::showMessage()
 		{
 			sprintf(buf,"Glue mode");
 		}
-		GLDebugDrawString(xStart,20,buf);
+		GLDebugDrawString(xStart,yStart,buf);
-		yStart+=20;
-		glRasterPos3f(xStart, yStart, 0);
 		sprintf(buf,"f to toggle fracture/glue mode");		
 		yStart+=20;
 		GLDebugDrawString(xStart,yStart,buf);
+		sprintf(buf,"space to restart, mouse to pick/shoot");
+		yStart+=20;
+		GLDebugDrawString(xStart,yStart,buf);
+
 		resetPerspectiveProjection();
 		glEnable(GL_LIGHTING);
 	}
@@ -233,7 +233,7 @@ void FractureDemo::showMessage()
 void FractureDemo::displayCallback(void) {
 
 	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); 
-	
+
 	renderme();
 
 	showMessage();
@@ -246,15 +246,6 @@ void FractureDemo::displayCallback(void) {
 	swapBuffers();
 }
 
-void FractureDemo::keyboardCallback(unsigned char key, int x, int y)
-{	
-	if (key=='f')
-	{
-	} else
-	{
-		PlatformDemoApplication::keyboardCallback(key,x,y);
-	}
-}
 
 void FractureDemo::keyboardUpCallback(unsigned char key, int x, int y)
 {
@@ -265,21 +256,10 @@ void FractureDemo::keyboardUpCallback(unsigned char key, int x, int y)
 	}
 
 	PlatformDemoApplication::keyboardUpCallback(key,x,y);
-	
+
 }
 
 
-
-
-
-
-
-
-
-
-
-
-
 void	FractureDemo::shootBox(const btVector3& destination)
 {
 
@@ -305,12 +285,12 @@ void	FractureDemo::shootBox(const btVector3& destination)
 		//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
 
 		btFractureBody* body = new btFractureBody(mass,0,m_shootBoxShape,localInertia,&mass,1,m_dynamicsWorld);
-		
+
 		body->setWorldTransform(startTransform);
 
 		m_dynamicsWorld->addRigidBody(body);
 
-	
+
 		body->setLinearFactor(btVector3(1,1,1));
 		//body->setRestitution(1);
 
@@ -324,14 +304,14 @@ void	FractureDemo::shootBox(const btVector3& destination)
 		body->setAngularVelocity(btVector3(0,0,0));
 		body->setCcdMotionThreshold(1.);
 		body->setCcdSweptSphereRadius(0.2f);
-		
+
 	}
 }
 
 
 
 
-	
+
 
 void	FractureDemo::exitPhysics()
 {
@@ -359,17 +339,23 @@ void	FractureDemo::exitPhysics()
 		delete shape;
 	}
 
+	m_collisionShapes.clear();
+
 	delete m_dynamicsWorld;
-	
+	m_dynamicsWorld=0;
+
 	delete m_solver;
-	
+	m_solver=0;
+
 	delete m_broadphase;
-	
+	m_broadphase=0;
+
 	delete m_dispatcher;
+	m_dispatcher=0;
 
 	delete m_collisionConfiguration;
+	m_collisionConfiguration=0;
 
-	
 }
 
 

Demos/FractureDemo/FractureDemo.h

@@ -66,11 +66,11 @@ class FractureDemo : public PlatformDemoApplication
 	virtual void clientMoveAndDisplay();
 
 	virtual void displayCallback();
-	
+		
-	virtual void keyboardCallback(unsigned char key, int x, int y);
-	
 	virtual void keyboardUpCallback(unsigned char key, int x, int y);
 
+	virtual void	clientResetScene();
+
 	static DemoApplication* Create()
 	{
 		FractureDemo* demo = new FractureDemo;

Demos/FractureDemo/btFractureDynamicsWorld.cpp

@@ -7,17 +7,19 @@
 
 btFractureDynamicsWorld::btFractureDynamicsWorld ( btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration)
 :btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver,collisionConfiguration),
-m_fracturingMode(false)
+m_fracturingMode(true)
 {
 
 }
 
 
-void btFractureDynamicsWorld::glueCallback(btScalar timeStep)
+void btFractureDynamicsWorld::glueCallback()
 {
 
 	int numManifolds = getDispatcher()->getNumManifolds();
 
+	///first build the islands based on axis aligned bounding box overlap
+
 	btUnionFind unionFind;
 
 	int index = 0;
@@ -61,7 +63,7 @@ void btFractureDynamicsWorld::glueCallback(btScalar timeStep)
 		btRigidBody* body0 = btRigidBody::upcast(colObj0);
 		btRigidBody* body1 = btRigidBody::upcast(colObj1);
 
-		
+
 		if (!colObj0->isStaticOrKinematicObject() && !colObj1->isStaticOrKinematicObject())
 		{
 			unionFind.unite(tag0, tag1);
@@ -70,7 +72,7 @@ void btFractureDynamicsWorld::glueCallback(btScalar timeStep)
 
 
 
-	
+
 	numElem = unionFind.getNumElements();
 
 
@@ -82,9 +84,9 @@ void btFractureDynamicsWorld::glueCallback(btScalar timeStep)
 		if (!collisionObject->isStaticOrKinematicObject())
 		{
 			int tag = unionFind.find(index);
-			
+
 			collisionObject->setIslandTag( tag);
-			
+
 			//Set the correct object offset in Collision Object Array
 #if STATIC_SIMULATION_ISLAND_OPTIMIZATION
 			unionFind.getElement(index).m_sz = ai;
@@ -102,7 +104,7 @@ void btFractureDynamicsWorld::glueCallback(btScalar timeStep)
 
 	btAlignedObjectArray<btCollisionObject*> removedObjects;
 
-	//update the sleeping state for bodies, if all are sleeping
+	///iterate over all islands
 	for ( startIslandIndex=0;startIslandIndex<numElem;startIslandIndex = endIslandIndex)
 	{
 		int islandId = unionFind.getElement(startIslandIndex).m_id;
@@ -129,19 +131,25 @@ void btFractureDynamicsWorld::glueCallback(btScalar timeStep)
 			numObjects++;
 		}
 
-		
+		///Then for each island that contains at least two objects and one fracture object
 		if (fractureObjectIndex>=0 && numObjects>1)
 		{
 
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
 			btFractureBody* fracObj = (btFractureBody*)getCollisionObjectArray()[fractureObjectIndex];
-			
+
+			///glueing objects means creating a new compound and removing the old objects
+			///delay the removal of old objects to avoid array indexing problems
 			removedObjects.push_back(fracObj);
 			m_fractureBodies.remove(fracObj);
 
 			btAlignedObjectArray<btScalar> massArray;
+
+			btAlignedObjectArray<btVector3> oldImpulses;
+			btAlignedObjectArray<btVector3> oldCenterOfMassesWS;
+
+			oldImpulses.push_back(fracObj->getLinearVelocity()/1./fracObj->getInvMass());
+			oldCenterOfMassesWS.push_back(fracObj->getCenterOfMassPosition());
+
 			btScalar totalMass = 0.f;
 
 
@@ -169,7 +177,7 @@ void btFractureDynamicsWorld::glueCallback(btScalar timeStep)
 
 			for (idx=startIslandIndex;idx<endIslandIndex;idx++)
 			{
-				
+
 				int i = unionFind.getElement(idx).m_sz;
 
 				if (i==fractureObjectIndex)
@@ -178,9 +186,15 @@ void btFractureDynamicsWorld::glueCallback(btScalar timeStep)
 				btCollisionObject* otherCollider = getCollisionObjectArray()[i];
 
 				btRigidBody* otherObject = btRigidBody::upcast(otherCollider);
+				//don't glue/merge with static objects right now, otherwise everything gets stuck to the ground
+				///todo: expose this as a callback
 				if (!otherObject || !otherObject->getInvMass())
 					continue;
-				
+
+
+				oldImpulses.push_back(otherObject->getLinearVelocity()*(1.f/otherObject->getInvMass()));
+				oldCenterOfMassesWS.push_back(otherObject->getCenterOfMassPosition());
+
 				removedObjects.push_back(otherObject);
 				m_fractureBodies.remove((btFractureBody*)otherObject);
 
@@ -208,7 +222,7 @@ void btFractureDynamicsWorld::glueCallback(btScalar timeStep)
 				totalMass+=curMass;
 			}
 
-			
+
 
 			btTransform shift;
 			shift.setIdentity();
@@ -221,12 +235,22 @@ void btFractureDynamicsWorld::glueCallback(btScalar timeStep)
 			btFractureBody* newBody = new btFractureBody(totalMass,0,newCompound,localInertia, &massArray[0], numChildren,this);
 			newBody->recomputeConnectivity(this);
 			newBody->setWorldTransform(fracObj->getWorldTransform()*shift);
+
+			//now the linear/angular velocity is still zero, apply the impulses
+
+			for (int i=0;i<oldImpulses.size();i++)
+			{
+				btVector3 rel_pos = oldCenterOfMassesWS[i]-newBody->getCenterOfMassPosition();
+				const btVector3& imp = oldImpulses[i];
+				newBody->applyImpulse(imp, rel_pos);
+			}
+
 			addRigidBody(newBody);
 
 
 		}
 
-		
+
 	}
 
 	//remove the objects from the world at the very end, 
@@ -255,24 +279,22 @@ struct	btFracturePair
 
 void btFractureDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
 {
-	//todo: add some logic 
+	// todo: after fracture we should run the solver again for better realism
-	
+	// for example
-//	save all velocities
+	//	save all velocities and if one or more objects fracture:
-//	1) that if a fracture object break
+	//	1) revert all velocties
-//	2) revert all velocties
+	//	2) apply impulses for the fracture bodies at the contact locations
-//	3) apply impulses for the fracture bodies at the contact locations
+	//	3)and run the constaint solver again
-//	4)and run the constaint solver again
 
 	btDiscreteDynamicsWorld::solveConstraints(solverInfo);
 
-	fractureCallback(solverInfo.m_timeStep);
+	fractureCallback();
 }
 
-
+btFractureBody* btFractureDynamicsWorld::addNewBody(const btTransform& oldTransform,btScalar* masses, btCompoundShape* oldCompound)
-void btFractureDynamicsWorld::addNewBody(const btTransform& oldTransform,btScalar* masses, btCompoundShape* oldCompound)
 {
 	int i;
-	
+
 	btTransform shift;
 	shift.setIdentity();
 	btVector3 localInertia;
@@ -284,10 +306,11 @@ void btFractureDynamicsWorld::addNewBody(const btTransform& oldTransform,btScala
 
 	btFractureBody* newBody = new btFractureBody(totalMass,0,newCompound,localInertia, masses,newCompound->getNumChildShapes(), this);
 	newBody->recomputeConnectivity(this);
-		
+
 	newBody->setCollisionFlags(newBody->getCollisionFlags()|btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
 	newBody->setWorldTransform(oldTransform*shift);
 	addRigidBody(newBody);
+	return newBody;
 }
 
 void btFractureDynamicsWorld::addRigidBody(btRigidBody* body)
@@ -351,7 +374,7 @@ void	btFractureDynamicsWorld::breakDisconnectedParts( btFractureBody* fracObj)
 		}
 	}
 	numElem = unionFind.getNumElements();
-	
+
 	index=0;
 	for (int ai=0;ai<numChildren;ai++)
 	{
@@ -398,30 +421,34 @@ void	btFractureDynamicsWorld::breakDisconnectedParts( btFractureBody* fracObj)
 		}
 		if (numShapes)
 		{
-			addNewBody(fracObj->getWorldTransform(),&masses[0],newCompound);
+			btFractureBody* newBody = addNewBody(fracObj->getWorldTransform(),&masses[0],newCompound);
+			newBody->setLinearVelocity(fracObj->getLinearVelocity());
+			newBody->setAngularVelocity(fracObj->getAngularVelocity());
+
 			numIslands++;
 		}
 	}
 
 
 
-	
+
 
 	removeRigidBody(fracObj);//should it also be removed from the array?
-	
+
 
 }
 
+#include <stdio.h>
 
 
-void btFractureDynamicsWorld::fractureCallback( btScalar timeStep)
+void btFractureDynamicsWorld::fractureCallback( )
 {
 
 	btAlignedObjectArray<btFracturePair> sFracturePairs;
 
 	if (!m_fracturingMode)
 	{
-		glueCallback(timeStep);
+		glueCallback();
 		return;
 	}
 
@@ -429,28 +456,31 @@ void btFractureDynamicsWorld::fractureCallback( btScalar timeStep)
 
 	sFracturePairs.clear();
 
-	
+
 	for (int i=0;i<numManifolds;i++)
 	{
 		btPersistentManifold* manifold = getDispatcher()->getManifoldByIndexInternal(i);
 		if (!manifold->getNumContacts())
 			continue;
-		
+
 		btScalar totalImpact = 0.f;
 		for (int p=0;p<manifold->getNumContacts();p++)
 		{
 			totalImpact += manifold->getContactPoint(p).m_appliedImpulse;
 		}
 
+		
+//		printf("totalImpact=%f\n",totalImpact);
+
 		static float maxImpact = 0;
 		if (totalImpact>maxImpact)
 			maxImpact = totalImpact;
 
 		//some threshold otherwise resting contact would break objects after a while
-		if (totalImpact < 10)
+		if (totalImpact < 40.f)
 			continue;
 
-//		printf("strong impact\n");
+		//		printf("strong impact\n");
 
 
 		//@todo: add better logic to decide what parts to fracture
@@ -479,8 +509,8 @@ void btFractureDynamicsWorld::fractureCallback( btScalar timeStep)
 
 			btCollisionObject* colOb = (btCollisionObject*)manifold->getBody1();
 			btRigidBody* otherOb = btRigidBody::upcast(colOb);
-		//	if (!otherOb->getInvMass())
+			//	if (!otherOb->getInvMass())
-		//		continue;
+			//		continue;
 
 			int pi=-1;
 
@@ -504,16 +534,16 @@ void btFractureDynamicsWorld::fractureCallback( btScalar timeStep)
 				sFracturePairs[pi].m_contactManifolds.push_back(manifold);
 			}
 		}
-		
+
-		
+
 		if (f1 < m_fractureBodies.size())
 		{
 			int j=f1;
 			{
 				btCollisionObject* colOb = (btCollisionObject*)manifold->getBody0();
 				btRigidBody* otherOb = btRigidBody::upcast(colOb);
-			//	if (!otherOb->getInvMass())
+				//	if (!otherOb->getInvMass())
-			//		continue;
+				//		continue;
 
 
 				int pi=-1;
@@ -549,7 +579,7 @@ void btFractureDynamicsWorld::fractureCallback( btScalar timeStep)
 
 
 	{
-//		printf("fracturing\n");
+		//		printf("fracturing\n");
 
 		for (int i=0;i<sFracturePairs.size();i++)
 		{
@@ -559,7 +589,7 @@ void btFractureDynamicsWorld::fractureCallback( btScalar timeStep)
 
 			//compute connectivity of connected child shapes
 
-		
+
 			if (sFracturePairs[i].m_fracObj->getCollisionShape()->isCompound())
 			{
 				btTransform tr;
@@ -585,7 +615,7 @@ void btFractureDynamicsWorld::fractureCallback( btScalar timeStep)
 								{
 									btConnection& connection = sFracturePairs[i].m_fracObj->m_connections[f];
 									if (	(connection.m_childIndex0 == pt.m_index0) ||
-											(connection.m_childIndex1 == pt.m_index0)
+										(connection.m_childIndex1 == pt.m_index0)
 										)
 									{
 										connection.m_strength -= pt.m_appliedImpulse;
@@ -603,7 +633,7 @@ void btFractureDynamicsWorld::fractureCallback( btScalar timeStep)
 								{
 									btConnection& connection = sFracturePairs[i].m_fracObj->m_connections[f];
 									if (	(connection.m_childIndex0 == pt.m_index1) ||
-											(connection.m_childIndex1 == pt.m_index1)
+										(connection.m_childIndex1 == pt.m_index1)
 										)
 									{
 										connection.m_strength -= pt.m_appliedImpulse;

Demos/FractureDemo/btFractureDynamicsWorld.h

@@ -17,11 +17,7 @@ class btFractureDynamicsWorld : public btDiscreteDynamicsWorld
 
 	bool	m_fracturingMode;
 
-	void glueCallback(btScalar timeStep);
+	btFractureBody* addNewBody(const btTransform& oldTransform,btScalar* masses, btCompoundShape* oldCompound);
-	
-	void fractureCallback( btScalar timeStep);
-
-	void addNewBody(const btTransform& oldTransform,btScalar* masses, btCompoundShape* oldCompound);
 
 	void	breakDisconnectedParts( btFractureBody* fracObj);
 
@@ -42,6 +38,13 @@ public:
 	}
 
 	bool getFractureMode() const { return m_fracturingMode;}
+
+	///normally those callbacks are called internally by the 'solveConstraints'
+	void glueCallback();
+
+	///normally those callbacks are called internally by the 'solveConstraints'
+	void fractureCallback();
+
 };
 
 #endif //_BT_FRACTURE_DYNAMICS_WORLD_H

src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp

@@ -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;
 }

src/BulletDynamics/ConstraintSolver/btSliderConstraint.h

@@ -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