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Improved Slider, Hinge and Generic6DOF constraint setup.

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Turned on by default, use m_useOffsetForConstraintFrame = false to use old setup
Use "O" (capital 'o') button to toggle it in SliderConstraintDemo and ConstraintDemo

Total applied impulse copied back from btSolverConstraint to btTypedConstraint
This commit is contained in:
rponom
2009-11-25 23:52:12 +00:00
parent eea73bc76a
commit f919baf03d
15 changed files with 1082 additions and 114 deletions
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12
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
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@@ -819,6 +819,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
for ( j=0;j<info1.m_numConstraintRows;j++)
{
btSolverConstraint& solverConstraint = currentConstraintRow[j];
solverConstraint.m_originalContactPoint = constraint;
{
const btVector3& ftorqueAxis1 = solverConstraint.m_relpos1CrossNormal;
@@ -1108,6 +1109,17 @@ btScalar btSequentialImpulseConstraintSolver::solveGroup(btCollisionObject** bod
//do a callback here?
}
numPoolConstraints = m_tmpSolverNonContactConstraintPool.size();
for (j=0;j<numPoolConstraints;j++)
{
const btSolverConstraint& solverConstr = m_tmpSolverNonContactConstraintPool[j];
btTypedConstraint* constr = (btTypedConstraint*)solverConstr.m_originalContactPoint;
btScalar sum = constr->internalGetAppliedImpulse();
sum += solverConstr.m_appliedImpulse;
constr->internalSetAppliedImpulse(sum);
}
if (infoGlobal.m_splitImpulse)
{
for ( i=0;i<m_tmpSolverBodyPool.size();i++)