Differential D1739 Diff 5899 extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactConstraint.cpp
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extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactConstraint.cpp
| Show First 20 Lines • Show All 149 Lines • ▼ Show 20 Lines | void resolveSingleBilateral(btRigidBody& body1, const btVector3& pos1, | ||||
| btScalar jacDiagAB = jac.getDiagonal(); | btScalar jacDiagAB = jac.getDiagonal(); | ||||
| btScalar jacDiagABInv = btScalar(1.) / jacDiagAB; | btScalar jacDiagABInv = btScalar(1.) / jacDiagAB; | ||||
| btScalar rel_vel = jac.getRelativeVelocity( | btScalar rel_vel = jac.getRelativeVelocity( | ||||
| body1.getLinearVelocity(), | body1.getLinearVelocity(), | ||||
| body1.getCenterOfMassTransform().getBasis().transpose() * body1.getAngularVelocity(), | body1.getCenterOfMassTransform().getBasis().transpose() * body1.getAngularVelocity(), | ||||
| body2.getLinearVelocity(), | body2.getLinearVelocity(), | ||||
| body2.getCenterOfMassTransform().getBasis().transpose() * body2.getAngularVelocity()); | body2.getCenterOfMassTransform().getBasis().transpose() * body2.getAngularVelocity()); | ||||
| btScalar a; | |||||
| a=jacDiagABInv; | |||||
| rel_vel = normal.dot(vel); | rel_vel = normal.dot(vel); | ||||
| //todo: move this into proper structure | //todo: move this into proper structure | ||||
| btScalar contactDamping = btScalar(0.2); | btScalar contactDamping = btScalar(0.2); | ||||
| #ifdef ONLY_USE_LINEAR_MASS | #ifdef ONLY_USE_LINEAR_MASS | ||||
| Show All 11 Lines | |||||