Welcome to mirror list, hosted at ThFree Co, Russian Federation.

git.blender.org/blender.git - Unnamed repository; edit this file 'description' to name the repository.
summaryrefslogtreecommitdiff
path: root/extern/bullet2/src/BulletDynamics/MLCPSolvers/btMLCPSolver.cpp
diff options
context:
space:
mode:
Diffstat (limited to 'extern/bullet2/src/BulletDynamics/MLCPSolvers/btMLCPSolver.cpp')
-rw-r--r--extern/bullet2/src/BulletDynamics/MLCPSolvers/btMLCPSolver.cpp160
1 files changed, 84 insertions, 76 deletions
diff --git a/extern/bullet2/src/BulletDynamics/MLCPSolvers/btMLCPSolver.cpp b/extern/bullet2/src/BulletDynamics/MLCPSolvers/btMLCPSolver.cpp
index 0635b958bed..6688694a928 100644
--- a/extern/bullet2/src/BulletDynamics/MLCPSolvers/btMLCPSolver.cpp
+++ b/extern/bullet2/src/BulletDynamics/MLCPSolvers/btMLCPSolver.cpp
@@ -44,8 +44,8 @@ btScalar btMLCPSolver::solveGroupCacheFriendlySetup(btCollisionObject** bodies,
int numFrictionPerContact = m_tmpSolverContactConstraintPool.size()==m_tmpSolverContactFrictionConstraintPool.size()? 1 : 2;
- int numBodies = m_tmpSolverBodyPool.size();
- m_allConstraintArray.resize(0);
+ // int numBodies = m_tmpSolverBodyPool.size();
+ m_allConstraintPtrArray.resize(0);
m_limitDependencies.resize(m_tmpSolverNonContactConstraintPool.size()+m_tmpSolverContactConstraintPool.size()+m_tmpSolverContactFrictionConstraintPool.size());
btAssert(m_limitDependencies.size() == m_tmpSolverNonContactConstraintPool.size()+m_tmpSolverContactConstraintPool.size()+m_tmpSolverContactFrictionConstraintPool.size());
// printf("m_limitDependencies.size() = %d\n",m_limitDependencies.size());
@@ -53,7 +53,7 @@ btScalar btMLCPSolver::solveGroupCacheFriendlySetup(btCollisionObject** bodies,
int dindex = 0;
for (int i=0;i<m_tmpSolverNonContactConstraintPool.size();i++)
{
- m_allConstraintArray.push_back(m_tmpSolverNonContactConstraintPool[i]);
+ m_allConstraintPtrArray.push_back(&m_tmpSolverNonContactConstraintPool[i]);
m_limitDependencies[dindex++] = -1;
}
@@ -65,14 +65,14 @@ btScalar btMLCPSolver::solveGroupCacheFriendlySetup(btCollisionObject** bodies,
{
for (int i=0;i<m_tmpSolverContactConstraintPool.size();i++)
{
- m_allConstraintArray.push_back(m_tmpSolverContactConstraintPool[i]);
+ m_allConstraintPtrArray.push_back(&m_tmpSolverContactConstraintPool[i]);
m_limitDependencies[dindex++] = -1;
- m_allConstraintArray.push_back(m_tmpSolverContactFrictionConstraintPool[i*numFrictionPerContact]);
+ m_allConstraintPtrArray.push_back(&m_tmpSolverContactFrictionConstraintPool[i*numFrictionPerContact]);
int findex = (m_tmpSolverContactFrictionConstraintPool[i*numFrictionPerContact].m_frictionIndex*(1+numFrictionPerContact));
m_limitDependencies[dindex++] = findex +firstContactConstraintOffset;
if (numFrictionPerContact==2)
{
- m_allConstraintArray.push_back(m_tmpSolverContactFrictionConstraintPool[i*numFrictionPerContact+1]);
+ m_allConstraintPtrArray.push_back(&m_tmpSolverContactFrictionConstraintPool[i*numFrictionPerContact+1]);
m_limitDependencies[dindex++] = findex+firstContactConstraintOffset;
}
}
@@ -80,19 +80,19 @@ btScalar btMLCPSolver::solveGroupCacheFriendlySetup(btCollisionObject** bodies,
{
for (int i=0;i<m_tmpSolverContactConstraintPool.size();i++)
{
- m_allConstraintArray.push_back(m_tmpSolverContactConstraintPool[i]);
+ m_allConstraintPtrArray.push_back(&m_tmpSolverContactConstraintPool[i]);
m_limitDependencies[dindex++] = -1;
}
for (int i=0;i<m_tmpSolverContactFrictionConstraintPool.size();i++)
{
- m_allConstraintArray.push_back(m_tmpSolverContactFrictionConstraintPool[i]);
+ m_allConstraintPtrArray.push_back(&m_tmpSolverContactFrictionConstraintPool[i]);
m_limitDependencies[dindex++] = m_tmpSolverContactFrictionConstraintPool[i].m_frictionIndex+firstContactConstraintOffset;
}
}
- if (!m_allConstraintArray.size())
+ if (!m_allConstraintPtrArray.size())
{
m_A.resize(0,0);
m_b.resize(0);
@@ -156,7 +156,7 @@ void btMLCPSolver::createMLCPFast(const btContactSolverInfo& infoGlobal)
{
int numContactRows = interleaveContactAndFriction ? 3 : 1;
- int numConstraintRows = m_allConstraintArray.size();
+ int numConstraintRows = m_allConstraintPtrArray.size();
int n = numConstraintRows;
{
BT_PROFILE("init b (rhs)");
@@ -166,11 +166,11 @@ void btMLCPSolver::createMLCPFast(const btContactSolverInfo& infoGlobal)
m_bSplit.setZero();
for (int i=0;i<numConstraintRows ;i++)
{
- btScalar jacDiag = m_allConstraintArray[i].m_jacDiagABInv;
+ btScalar jacDiag = m_allConstraintPtrArray[i]->m_jacDiagABInv;
if (!btFuzzyZero(jacDiag))
{
- btScalar rhs = m_allConstraintArray[i].m_rhs;
- btScalar rhsPenetration = m_allConstraintArray[i].m_rhsPenetration;
+ btScalar rhs = m_allConstraintPtrArray[i]->m_rhs;
+ btScalar rhsPenetration = m_allConstraintPtrArray[i]->m_rhsPenetration;
m_b[i]=rhs/jacDiag;
m_bSplit[i] = rhsPenetration/jacDiag;
}
@@ -178,8 +178,8 @@ void btMLCPSolver::createMLCPFast(const btContactSolverInfo& infoGlobal)
}
}
- btScalar* w = 0;
- int nub = 0;
+// btScalar* w = 0;
+// int nub = 0;
m_lo.resize(numConstraintRows);
m_hi.resize(numConstraintRows);
@@ -195,14 +195,14 @@ void btMLCPSolver::createMLCPFast(const btContactSolverInfo& infoGlobal)
m_hi[i] = BT_INFINITY;
} else
{
- m_lo[i] = m_allConstraintArray[i].m_lowerLimit;
- m_hi[i] = m_allConstraintArray[i].m_upperLimit;
+ m_lo[i] = m_allConstraintPtrArray[i]->m_lowerLimit;
+ m_hi[i] = m_allConstraintPtrArray[i]->m_upperLimit;
}
}
}
//
- int m=m_allConstraintArray.size();
+ int m=m_allConstraintPtrArray.size();
int numBodies = m_tmpSolverBodyPool.size();
btAlignedObjectArray<int> bodyJointNodeArray;
@@ -213,7 +213,7 @@ void btMLCPSolver::createMLCPFast(const btContactSolverInfo& infoGlobal)
btAlignedObjectArray<btJointNode> jointNodeArray;
{
BT_PROFILE("jointNodeArray.reserve");
- jointNodeArray.reserve(2*m_allConstraintArray.size());
+ jointNodeArray.reserve(2*m_allConstraintPtrArray.size());
}
static btMatrixXu J3;
@@ -235,7 +235,7 @@ void btMLCPSolver::createMLCPFast(const btContactSolverInfo& infoGlobal)
{
BT_PROFILE("ofs resize");
ofs.resize(0);
- ofs.resizeNoInitialize(m_allConstraintArray.size());
+ ofs.resizeNoInitialize(m_allConstraintPtrArray.size());
}
{
BT_PROFILE("Compute J and JinvM");
@@ -243,11 +243,11 @@ void btMLCPSolver::createMLCPFast(const btContactSolverInfo& infoGlobal)
int numRows = 0;
- for (int i=0;i<m_allConstraintArray.size();i+=numRows,c++)
+ for (int i=0;i<m_allConstraintPtrArray.size();i+=numRows,c++)
{
ofs[c] = rowOffset;
- int sbA = m_allConstraintArray[i].m_solverBodyIdA;
- int sbB = m_allConstraintArray[i].m_solverBodyIdB;
+ int sbA = m_allConstraintPtrArray[i]->m_solverBodyIdA;
+ int sbB = m_allConstraintPtrArray[i]->m_solverBodyIdB;
btRigidBody* orgBodyA = m_tmpSolverBodyPool[sbA].m_originalBody;
btRigidBody* orgBodyB = m_tmpSolverBodyPool[sbB].m_originalBody;
@@ -268,13 +268,13 @@ void btMLCPSolver::createMLCPFast(const btContactSolverInfo& infoGlobal)
}
for (int row=0;row<numRows;row++,cur++)
{
- btVector3 normalInvMass = m_allConstraintArray[i+row].m_contactNormal1 * orgBodyA->getInvMass();
- btVector3 relPosCrossNormalInvInertia = m_allConstraintArray[i+row].m_relpos1CrossNormal * orgBodyA->getInvInertiaTensorWorld();
+ btVector3 normalInvMass = m_allConstraintPtrArray[i+row]->m_contactNormal1 * orgBodyA->getInvMass();
+ btVector3 relPosCrossNormalInvInertia = m_allConstraintPtrArray[i+row]->m_relpos1CrossNormal * orgBodyA->getInvInertiaTensorWorld();
for (int r=0;r<3;r++)
{
- J3.setElem(cur,r,m_allConstraintArray[i+row].m_contactNormal1[r]);
- J3.setElem(cur,r+4,m_allConstraintArray[i+row].m_relpos1CrossNormal[r]);
+ J3.setElem(cur,r,m_allConstraintPtrArray[i+row]->m_contactNormal1[r]);
+ J3.setElem(cur,r+4,m_allConstraintPtrArray[i+row]->m_relpos1CrossNormal[r]);
JinvM3.setElem(cur,r,normalInvMass[r]);
JinvM3.setElem(cur,r+4,relPosCrossNormalInvInertia[r]);
}
@@ -305,13 +305,13 @@ void btMLCPSolver::createMLCPFast(const btContactSolverInfo& infoGlobal)
for (int row=0;row<numRows;row++,cur++)
{
- btVector3 normalInvMassB = m_allConstraintArray[i+row].m_contactNormal2*orgBodyB->getInvMass();
- btVector3 relPosInvInertiaB = m_allConstraintArray[i+row].m_relpos2CrossNormal * orgBodyB->getInvInertiaTensorWorld();
+ btVector3 normalInvMassB = m_allConstraintPtrArray[i+row]->m_contactNormal2*orgBodyB->getInvMass();
+ btVector3 relPosInvInertiaB = m_allConstraintPtrArray[i+row]->m_relpos2CrossNormal * orgBodyB->getInvInertiaTensorWorld();
for (int r=0;r<3;r++)
{
- J3.setElem(cur,r,m_allConstraintArray[i+row].m_contactNormal2[r]);
- J3.setElem(cur,r+4,m_allConstraintArray[i+row].m_relpos2CrossNormal[r]);
+ J3.setElem(cur,r,m_allConstraintPtrArray[i+row]->m_contactNormal2[r]);
+ J3.setElem(cur,r+4,m_allConstraintPtrArray[i+row]->m_relpos2CrossNormal[r]);
JinvM3.setElem(cur,r,normalInvMassB[r]);
JinvM3.setElem(cur,r+4,relPosInvInertiaB[r]);
}
@@ -349,13 +349,13 @@ void btMLCPSolver::createMLCPFast(const btContactSolverInfo& infoGlobal)
{
int numRows = 0;
BT_PROFILE("Compute A");
- for (int i=0;i<m_allConstraintArray.size();i+= numRows,c++)
+ for (int i=0;i<m_allConstraintPtrArray.size();i+= numRows,c++)
{
int row__ = ofs[c];
- int sbA = m_allConstraintArray[i].m_solverBodyIdA;
- int sbB = m_allConstraintArray[i].m_solverBodyIdB;
- btRigidBody* orgBodyA = m_tmpSolverBodyPool[sbA].m_originalBody;
- btRigidBody* orgBodyB = m_tmpSolverBodyPool[sbB].m_originalBody;
+ int sbA = m_allConstraintPtrArray[i]->m_solverBodyIdA;
+ int sbB = m_allConstraintPtrArray[i]->m_solverBodyIdB;
+ // btRigidBody* orgBodyA = m_tmpSolverBodyPool[sbA].m_originalBody;
+ // btRigidBody* orgBodyB = m_tmpSolverBodyPool[sbB].m_originalBody;
numRows = i<m_tmpSolverNonContactConstraintPool.size() ? m_tmpConstraintSizesPool[c].m_numConstraintRows : numContactRows ;
@@ -371,7 +371,7 @@ void btMLCPSolver::createMLCPFast(const btContactSolverInfo& infoGlobal)
{
int numRowsOther = cr0 < m_tmpSolverNonContactConstraintPool.size() ? m_tmpConstraintSizesPool[j0].m_numConstraintRows : numContactRows;
- size_t ofsother = (m_allConstraintArray[cr0].m_solverBodyIdB == sbA) ? 8*numRowsOther : 0;
+ size_t ofsother = (m_allConstraintPtrArray[cr0]->m_solverBodyIdB == sbA) ? 8*numRowsOther : 0;
//printf("%d joint i %d and j0: %d: ",count++,i,j0);
m_A.multiplyAdd2_p8r ( JinvMrow,
Jptr + 2*8*(size_t)ofs[j0] + ofsother, numRows, numRowsOther, row__,ofs[j0]);
@@ -390,7 +390,7 @@ void btMLCPSolver::createMLCPFast(const btContactSolverInfo& infoGlobal)
if (j1<c)
{
int numRowsOther = cj1 < m_tmpSolverNonContactConstraintPool.size() ? m_tmpConstraintSizesPool[j1].m_numConstraintRows : numContactRows;
- size_t ofsother = (m_allConstraintArray[cj1].m_solverBodyIdB == sbB) ? 8*numRowsOther : 0;
+ size_t ofsother = (m_allConstraintPtrArray[cj1]->m_solverBodyIdB == sbB) ? 8*numRowsOther : 0;
m_A.multiplyAdd2_p8r ( JinvMrow + 8*(size_t)numRows,
Jptr + 2*8*(size_t)ofs[j1] + ofsother, numRows, numRowsOther, row__,ofs[j1]);
}
@@ -404,15 +404,15 @@ void btMLCPSolver::createMLCPFast(const btContactSolverInfo& infoGlobal)
// compute diagonal blocks of m_A
int row__ = 0;
- int numJointRows = m_allConstraintArray.size();
+ int numJointRows = m_allConstraintPtrArray.size();
int jj=0;
for (;row__<numJointRows;)
{
- int sbA = m_allConstraintArray[row__].m_solverBodyIdA;
- int sbB = m_allConstraintArray[row__].m_solverBodyIdB;
- btRigidBody* orgBodyA = m_tmpSolverBodyPool[sbA].m_originalBody;
+ //int sbA = m_allConstraintPtrArray[row__]->m_solverBodyIdA;
+ int sbB = m_allConstraintPtrArray[row__]->m_solverBodyIdB;
+ // btRigidBody* orgBodyA = m_tmpSolverBodyPool[sbA].m_originalBody;
btRigidBody* orgBodyB = m_tmpSolverBodyPool[sbB].m_originalBody;
@@ -453,9 +453,9 @@ void btMLCPSolver::createMLCPFast(const btContactSolverInfo& infoGlobal)
if (infoGlobal.m_solverMode&SOLVER_USE_WARMSTARTING)
{
- for (int i=0;i<m_allConstraintArray.size();i++)
+ for (int i=0;i<m_allConstraintPtrArray.size();i++)
{
- const btSolverConstraint& c = m_allConstraintArray[i];
+ const btSolverConstraint& c = *m_allConstraintPtrArray[i];
m_x[i]=c.m_appliedImpulse;
m_xSplit[i] = c.m_appliedPushImpulse;
}
@@ -471,7 +471,7 @@ void btMLCPSolver::createMLCPFast(const btContactSolverInfo& infoGlobal)
void btMLCPSolver::createMLCP(const btContactSolverInfo& infoGlobal)
{
int numBodies = this->m_tmpSolverBodyPool.size();
- int numConstraintRows = m_allConstraintArray.size();
+ int numConstraintRows = m_allConstraintPtrArray.size();
m_b.resize(numConstraintRows);
if (infoGlobal.m_splitImpulse)
@@ -482,11 +482,11 @@ void btMLCPSolver::createMLCP(const btContactSolverInfo& infoGlobal)
for (int i=0;i<numConstraintRows ;i++)
{
- if (m_allConstraintArray[i].m_jacDiagABInv)
+ if (m_allConstraintPtrArray[i]->m_jacDiagABInv)
{
- m_b[i]=m_allConstraintArray[i].m_rhs/m_allConstraintArray[i].m_jacDiagABInv;
+ m_b[i]=m_allConstraintPtrArray[i]->m_rhs/m_allConstraintPtrArray[i]->m_jacDiagABInv;
if (infoGlobal.m_splitImpulse)
- m_bSplit[i] = m_allConstraintArray[i].m_rhsPenetration/m_allConstraintArray[i].m_jacDiagABInv;
+ m_bSplit[i] = m_allConstraintPtrArray[i]->m_rhsPenetration/m_allConstraintPtrArray[i]->m_jacDiagABInv;
}
}
@@ -517,28 +517,28 @@ void btMLCPSolver::createMLCP(const btContactSolverInfo& infoGlobal)
for (int i=0;i<numConstraintRows;i++)
{
- m_lo[i] = m_allConstraintArray[i].m_lowerLimit;
- m_hi[i] = m_allConstraintArray[i].m_upperLimit;
+ m_lo[i] = m_allConstraintPtrArray[i]->m_lowerLimit;
+ m_hi[i] = m_allConstraintPtrArray[i]->m_upperLimit;
- int bodyIndex0 = m_allConstraintArray[i].m_solverBodyIdA;
- int bodyIndex1 = m_allConstraintArray[i].m_solverBodyIdB;
+ int bodyIndex0 = m_allConstraintPtrArray[i]->m_solverBodyIdA;
+ int bodyIndex1 = m_allConstraintPtrArray[i]->m_solverBodyIdB;
if (m_tmpSolverBodyPool[bodyIndex0].m_originalBody)
{
- setElem(J,i,6*bodyIndex0+0,m_allConstraintArray[i].m_contactNormal1[0]);
- setElem(J,i,6*bodyIndex0+1,m_allConstraintArray[i].m_contactNormal1[1]);
- setElem(J,i,6*bodyIndex0+2,m_allConstraintArray[i].m_contactNormal1[2]);
- setElem(J,i,6*bodyIndex0+3,m_allConstraintArray[i].m_relpos1CrossNormal[0]);
- setElem(J,i,6*bodyIndex0+4,m_allConstraintArray[i].m_relpos1CrossNormal[1]);
- setElem(J,i,6*bodyIndex0+5,m_allConstraintArray[i].m_relpos1CrossNormal[2]);
+ setElem(J,i,6*bodyIndex0+0,m_allConstraintPtrArray[i]->m_contactNormal1[0]);
+ setElem(J,i,6*bodyIndex0+1,m_allConstraintPtrArray[i]->m_contactNormal1[1]);
+ setElem(J,i,6*bodyIndex0+2,m_allConstraintPtrArray[i]->m_contactNormal1[2]);
+ setElem(J,i,6*bodyIndex0+3,m_allConstraintPtrArray[i]->m_relpos1CrossNormal[0]);
+ setElem(J,i,6*bodyIndex0+4,m_allConstraintPtrArray[i]->m_relpos1CrossNormal[1]);
+ setElem(J,i,6*bodyIndex0+5,m_allConstraintPtrArray[i]->m_relpos1CrossNormal[2]);
}
if (m_tmpSolverBodyPool[bodyIndex1].m_originalBody)
{
- setElem(J,i,6*bodyIndex1+0,m_allConstraintArray[i].m_contactNormal2[0]);
- setElem(J,i,6*bodyIndex1+1,m_allConstraintArray[i].m_contactNormal2[1]);
- setElem(J,i,6*bodyIndex1+2,m_allConstraintArray[i].m_contactNormal2[2]);
- setElem(J,i,6*bodyIndex1+3,m_allConstraintArray[i].m_relpos2CrossNormal[0]);
- setElem(J,i,6*bodyIndex1+4,m_allConstraintArray[i].m_relpos2CrossNormal[1]);
- setElem(J,i,6*bodyIndex1+5,m_allConstraintArray[i].m_relpos2CrossNormal[2]);
+ setElem(J,i,6*bodyIndex1+0,m_allConstraintPtrArray[i]->m_contactNormal2[0]);
+ setElem(J,i,6*bodyIndex1+1,m_allConstraintPtrArray[i]->m_contactNormal2[1]);
+ setElem(J,i,6*bodyIndex1+2,m_allConstraintPtrArray[i]->m_contactNormal2[2]);
+ setElem(J,i,6*bodyIndex1+3,m_allConstraintPtrArray[i]->m_relpos2CrossNormal[0]);
+ setElem(J,i,6*bodyIndex1+4,m_allConstraintPtrArray[i]->m_relpos2CrossNormal[1]);
+ setElem(J,i,6*bodyIndex1+5,m_allConstraintPtrArray[i]->m_relpos2CrossNormal[2]);
}
}
@@ -573,9 +573,9 @@ void btMLCPSolver::createMLCP(const btContactSolverInfo& infoGlobal)
m_xSplit.resize(numConstraintRows);
// m_x.setZero();
- for (int i=0;i<m_allConstraintArray.size();i++)
+ for (int i=0;i<m_allConstraintPtrArray.size();i++)
{
- const btSolverConstraint& c = m_allConstraintArray[i];
+ const btSolverConstraint& c = *m_allConstraintPtrArray[i];
m_x[i]=c.m_appliedImpulse;
if (infoGlobal.m_splitImpulse)
m_xSplit[i] = c.m_appliedPushImpulse;
@@ -597,27 +597,33 @@ btScalar btMLCPSolver::solveGroupCacheFriendlyIterations(btCollisionObject** bod
if (result)
{
BT_PROFILE("process MLCP results");
- for (int i=0;i<m_allConstraintArray.size();i++)
+ for (int i=0;i<m_allConstraintPtrArray.size();i++)
{
{
- btSolverConstraint& c = m_allConstraintArray[i];
+ btSolverConstraint& c = *m_allConstraintPtrArray[i];
int sbA = c.m_solverBodyIdA;
int sbB = c.m_solverBodyIdB;
- btRigidBody* orgBodyA = m_tmpSolverBodyPool[sbA].m_originalBody;
- btRigidBody* orgBodyB = m_tmpSolverBodyPool[sbB].m_originalBody;
+ //btRigidBody* orgBodyA = m_tmpSolverBodyPool[sbA].m_originalBody;
+ // btRigidBody* orgBodyB = m_tmpSolverBodyPool[sbB].m_originalBody;
btSolverBody& solverBodyA = m_tmpSolverBodyPool[sbA];
btSolverBody& solverBodyB = m_tmpSolverBodyPool[sbB];
- solverBodyA.internalApplyImpulse(c.m_contactNormal1*solverBodyA.internalGetInvMass(),c.m_angularComponentA,m_x[i]);
- solverBodyB.internalApplyImpulse(c.m_contactNormal2*solverBodyB.internalGetInvMass(),c.m_angularComponentB,m_x[i]);
+ {
+ btScalar deltaImpulse = m_x[i]-c.m_appliedImpulse;
+ c.m_appliedImpulse = m_x[i];
+ solverBodyA.internalApplyImpulse(c.m_contactNormal1*solverBodyA.internalGetInvMass(),c.m_angularComponentA,deltaImpulse);
+ solverBodyB.internalApplyImpulse(c.m_contactNormal2*solverBodyB.internalGetInvMass(),c.m_angularComponentB,deltaImpulse);
+ }
+
if (infoGlobal.m_splitImpulse)
{
- solverBodyA.internalApplyPushImpulse(c.m_contactNormal1*solverBodyA.internalGetInvMass(),c.m_angularComponentA,m_xSplit[i]);
- solverBodyB.internalApplyPushImpulse(c.m_contactNormal2*solverBodyB.internalGetInvMass(),c.m_angularComponentB,m_xSplit[i]);
+ btScalar deltaImpulse = m_xSplit[i] - c.m_appliedPushImpulse;
+ solverBodyA.internalApplyPushImpulse(c.m_contactNormal1*solverBodyA.internalGetInvMass(),c.m_angularComponentA,deltaImpulse);
+ solverBodyB.internalApplyPushImpulse(c.m_contactNormal2*solverBodyB.internalGetInvMass(),c.m_angularComponentB,deltaImpulse);
c.m_appliedPushImpulse = m_xSplit[i];
}
- c.m_appliedImpulse = m_x[i];
+
}
}
}
@@ -629,4 +635,6 @@ btScalar btMLCPSolver::solveGroupCacheFriendlyIterations(btCollisionObject** bod
}
return 0.f;
-} \ No newline at end of file
+}
+
+
generated by cgit v1.2.3 (git 2.25.1) at 2024-06-18 11:12:56 +0300