diff options
| author | Brecht Van Lommel <brechtvanlommel@gmail.com> | 2016-01-17 23:35:32 +0300 |
|---|---|---|
| committer | Brecht Van Lommel <brechtvanlommel@gmail.com> | 2016-01-26 00:14:46 +0300 |
| commit | b64d5809e7e3b832e2a011869db68e70b4b4e6fc (patch) | |
| tree | aa4f6714da9f546eeee7dffed9236f9c8309524b /extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h | |
| parent | 3c72e302e1eb25de43dd9d077f0c730cc02b5674 (diff) | |
Upgrade Bullet to version 2.83.
I tried to carefully preserve all patches since the last upgrade.
Improves T47195, cloth collision detection bug.
Differential Revision: https://developer.blender.org/D1739
Diffstat (limited to 'extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h')
| -rw-r--r-- | extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h | 8 |
1 files changed, 5 insertions, 3 deletions
diff --git a/extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h b/extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h index 0f4cd69c029..321ee4231a3 100644 --- a/extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h +++ b/extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h @@ -19,6 +19,7 @@ subject to the following restrictions: #include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h" #include "btMultiBodySolverConstraint.h" +#define DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS class btMultiBody; @@ -43,7 +44,7 @@ protected: int m_tmpNumMultiBodyConstraints; void resolveSingleConstraintRowGeneric(const btMultiBodySolverConstraint& c); - void resolveSingleConstraintRowGenericMultiBody(const btMultiBodySolverConstraint& c); + void convertContacts(btPersistentManifold** manifoldPtr,int numManifolds, const btContactSolverInfo& infoGlobal); btMultiBodySolverConstraint& addMultiBodyFrictionConstraint(const btVector3& normalAxis,btPersistentManifold* manifold,int frictionIndex,btManifoldPoint& cp,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity=0, btScalar cfmSlip=0); @@ -66,14 +67,15 @@ protected: virtual btScalar solveSingleIteration(int iteration, btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer); void applyDeltaVee(btScalar* deltaV, btScalar impulse, int velocityIndex, int ndof); - + void writeBackSolverBodyToMultiBody(btMultiBodySolverConstraint& constraint, btScalar deltaTime); public: BT_DECLARE_ALIGNED_ALLOCATOR(); ///this method should not be called, it was just used during porting/integration of Featherstone btMultiBody, providing backwards compatibility but no support for btMultiBodyConstraint (only contact constraints) virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer,btDispatcher* dispatcher); - + virtual btScalar solveGroupCacheFriendlyFinish(btCollisionObject** bodies,int numBodies,const btContactSolverInfo& infoGlobal); + virtual void solveMultiBodyGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,btMultiBodyConstraint** multiBodyConstraints, int numMultiBodyConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer,btDispatcher* dispatcher); }; |