diff options
Diffstat (limited to 'thirdparty/bullet/BulletDynamics/ConstraintSolver')
4 files changed, 6 insertions, 2 deletions
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btBatchedConstraints.cpp b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btBatchedConstraints.cpp index 27f76b8425..0f5ed1c2ce 100644 --- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btBatchedConstraints.cpp +++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btBatchedConstraints.cpp @@ -852,7 +852,7 @@ static void setupSpatialGridBatchesMt( memHelper.addChunk((void**)&constraintRowBatchIds, sizeof(int) * numConstraintRows); size_t scratchSize = memHelper.getSizeToAllocate(); // if we need to reallocate - if (scratchMemory->capacity() < scratchSize) + if (static_cast<size_t>(scratchMemory->capacity()) < scratchSize) { // allocate 6.25% extra to avoid repeated reallocs scratchMemory->reserve(scratchSize + scratchSize / 16); diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactSolverInfo.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactSolverInfo.h index 4356c12abf..3316403a87 100644 --- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactSolverInfo.h +++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactSolverInfo.h @@ -47,6 +47,8 @@ struct btContactSolverInfoData btScalar m_erp; //error reduction for non-contact constraints btScalar m_erp2; //error reduction for contact constraints btScalar m_deformable_erp; //error reduction for deformable constraints + btScalar m_deformable_cfm; //constraint force mixing for deformable constraints + btScalar m_deformable_maxErrorReduction; // maxErrorReduction for deformable contact btScalar m_globalCfm; //constraint force mixing for contacts and non-contacts btScalar m_frictionERP; //error reduction for friction constraints btScalar m_frictionCFM; //constraint force mixing for friction constraints @@ -83,7 +85,9 @@ struct btContactSolverInfo : public btContactSolverInfoData m_numIterations = 10; m_erp = btScalar(0.2); m_erp2 = btScalar(0.2); - m_deformable_erp = btScalar(0.1); + m_deformable_erp = btScalar(0.06); + m_deformable_cfm = btScalar(0.01); + m_deformable_maxErrorReduction = btScalar(0.1); m_globalCfm = btScalar(0.); m_frictionERP = btScalar(0.2); //positional friction 'anchors' are disabled by default m_frictionCFM = btScalar(0.); diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp index cac5302a73..cac5302a73 100755..100644 --- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp +++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSliderConstraint.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSliderConstraint.h index 75ca34e978..75ca34e978 100755..100644 --- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSliderConstraint.h +++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSliderConstraint.h |