diff options
Diffstat (limited to 'thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.cpp')
| -rw-r--r-- | thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.cpp | 12 |
1 files changed, 6 insertions, 6 deletions
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.cpp index 338e8af0ab..f2186a93e9 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.cpp +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.cpp @@ -22,9 +22,9 @@ subject to the following restrictions: #define DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS -static bool interleaveContactAndFriction = false; +static bool interleaveContactAndFriction1 = false; -struct btJointNode +struct btJointNode1 { int jointIndex; // pointer to enclosing dxJoint object int otherBodyIndex; // *other* body this joint is connected to @@ -241,7 +241,7 @@ void btMultiBodyMLCPConstraintSolver::createMLCPFast(const btContactSolverInfo& void btMultiBodyMLCPConstraintSolver::createMLCPFastRigidBody(const btContactSolverInfo& infoGlobal) { - int numContactRows = interleaveContactAndFriction ? 3 : 1; + int numContactRows = interleaveContactAndFriction1 ? 3 : 1; int numConstraintRows = m_allConstraintPtrArray.size(); @@ -301,7 +301,7 @@ void btMultiBodyMLCPConstraintSolver::createMLCPFastRigidBody(const btContactSol BT_PROFILE("bodyJointNodeArray.resize"); bodyJointNodeArray.resize(numBodies, -1); } - btAlignedObjectArray<btJointNode> jointNodeArray; + btAlignedObjectArray<btJointNode1> jointNodeArray; { BT_PROFILE("jointNodeArray.reserve"); jointNodeArray.reserve(2 * m_allConstraintPtrArray.size()); @@ -729,7 +729,7 @@ btScalar btMultiBodyMLCPConstraintSolver::solveGroupCacheFriendlySetup( int firstContactConstraintOffset = dindex; // The btSequentialImpulseConstraintSolver moves all friction constraints at the very end, we can also interleave them instead - if (interleaveContactAndFriction) + if (interleaveContactAndFriction1) { for (int i = 0; i < m_tmpSolverContactConstraintPool.size(); i++) { @@ -785,7 +785,7 @@ btScalar btMultiBodyMLCPConstraintSolver::solveGroupCacheFriendlySetup( firstContactConstraintOffset = dindex; // The btSequentialImpulseConstraintSolver moves all friction constraints at the very end, we can also interleave them instead - if (interleaveContactAndFriction) + if (interleaveContactAndFriction1) { for (int i = 0; i < m_multiBodyNormalContactConstraints.size(); ++i) { |