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some minor fixes for BulletMultiThreaded

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erwin.coumans
2008-11-16 06:39:45 +00:00
parent 686accab16
commit f474e58fb1
4 changed files with 14 additions and 2 deletions
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4
src/BulletMultiThreaded/SpuSolverTask/SpuParallellSolverTask.cpp
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@@ -491,7 +491,7 @@ static void solveFriction ( btSolverBody& bodyA, btSolverBody& bodyB, btSolverCo
j1 = constraint.m_appliedImpulse - oldTangentImpulse;
}
j1*=0.9;
if (bodyA.m_invMass > 0)
{
bodyA.m_linearVelocity += constraint.m_contactNormal*bodyA.m_invMass*j1;
@@ -1134,7 +1134,7 @@ void processSolverTask(void* userPtr, void* lsMemory)
constraint.m_penetration *= (taskDesc.m_commandData.m_manifoldSetup.m_solverInfo.m_erp/taskDesc.m_commandData.m_manifoldSetup.m_solverInfo.m_timeStep);
constraint.m_restitution = rest;
constraint.m_appliedImpulse = cp.m_appliedImpulse*0.85;
constraint.m_appliedImpulse = cp.m_appliedImpulse*taskDesc.m_commandData.m_manifoldSetup.m_solverInfo.m_warmstartingFactor;
if (constraint.m_appliedImpulse!= 0.f)
{
if (solverBodyA)