diff options
Diffstat (limited to 'thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h')
| -rw-r--r-- | thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h | 7 |
1 files changed, 4 insertions, 3 deletions
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h index abf5718839..f584360e2b 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h @@ -49,7 +49,7 @@ protected: 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); + btMultiBodySolverConstraint& addMultiBodyFrictionConstraint(const btVector3& normalAxis, const btScalar& appliedImpulse, btPersistentManifold* manifold, int frictionIndex, btManifoldPoint& cp, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity = 0, btScalar cfmSlip = 0); btMultiBodySolverConstraint& addMultiBodyTorsionalFrictionConstraint(const btVector3& normalAxis, btPersistentManifold* manifold, int frictionIndex, btManifoldPoint& cp, btScalar combinedTorsionalFriction, @@ -66,7 +66,9 @@ protected: void setupMultiBodyContactConstraint(btMultiBodySolverConstraint & solverConstraint, const btVector3& contactNormal, - btManifoldPoint& cp, const btContactSolverInfo& infoGlobal, + const btScalar& appliedImpulse, + btManifoldPoint& cp, + const btContactSolverInfo& infoGlobal, btScalar& relaxation, bool isFriction, btScalar desiredVelocity = 0, btScalar cfmSlip = 0); @@ -82,7 +84,6 @@ protected: void convertMultiBodyContact(btPersistentManifold * manifold, const btContactSolverInfo& infoGlobal); virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer); // virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer); - 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); |