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Updated Box2D to 2.3.2-git.

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This commit is contained in:
Alex Szpakowski
2015-11-30 23:55:50 -04:00
parent 5bdd858487
commit 0474f8167a
12 changed files with 87 additions and 51 deletions
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src/libraries/Box2D/Dynamics/Contacts/b2ContactSolver.cpp
+23 -18
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@@ -26,6 +26,8 @@
#define B2_DEBUG_SOLVER 0
bool g_blockSolve = true;
struct b2ContactPositionConstraint
{
b2Vec2 localPoints[b2_maxManifoldPoints];
@@ -213,7 +215,7 @@ void b2ContactSolver::InitializeVelocityConstraints()
}
// If we have two points, then prepare the block solver.
if (vc->pointCount == 2)
if (vc->pointCount == 2 && g_blockSolve)
{
b2VelocityConstraintPoint* vcp1 = vc->points + 0;
b2VelocityConstraintPoint* vcp2 = vc->points + 1;
@@ -341,29 +343,32 @@ void b2ContactSolver::SolveVelocityConstraints()
}
// Solve normal constraints
if (vc->pointCount == 1)
if (pointCount == 1 || g_blockSolve == false)
{
b2VelocityConstraintPoint* vcp = vc->points + 0;
for (int32 i = 0; i < pointCount; ++i)
{
b2VelocityConstraintPoint* vcp = vc->points + i;
// Relative velocity at contact
b2Vec2 dv = vB + b2Cross(wB, vcp->rB) - vA - b2Cross(wA, vcp->rA);
// Relative velocity at contact
b2Vec2 dv = vB + b2Cross(wB, vcp->rB) - vA - b2Cross(wA, vcp->rA);
// Compute normal impulse
float32 vn = b2Dot(dv, normal);
float32 lambda = -vcp->normalMass * (vn - vcp->velocityBias);
// Compute normal impulse
float32 vn = b2Dot(dv, normal);
float32 lambda = -vcp->normalMass * (vn - vcp->velocityBias);
// b2Clamp the accumulated impulse
float32 newImpulse = b2Max(vcp->normalImpulse + lambda, 0.0f);
lambda = newImpulse - vcp->normalImpulse;
vcp->normalImpulse = newImpulse;
// b2Clamp the accumulated impulse
float32 newImpulse = b2Max(vcp->normalImpulse + lambda, 0.0f);
lambda = newImpulse - vcp->normalImpulse;
vcp->normalImpulse = newImpulse;
// Apply contact impulse
b2Vec2 P = lambda * normal;
vA -= mA * P;
wA -= iA * b2Cross(vcp->rA, P);
// Apply contact impulse
b2Vec2 P = lambda * normal;
vA -= mA * P;
wA -= iA * b2Cross(vcp->rA, P);
vB += mB * P;
wB += iB * b2Cross(vcp->rB, P);
vB += mB * P;
wB += iB * b2Cross(vcp->rB, P);
}
}
else
{