368 lines
17 KiB
C++
368 lines
17 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#include "btNNCGConstraintSolver.h"
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btScalar btNNCGConstraintSolver::solveGroupCacheFriendlySetup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer)
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{
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btScalar val = btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer);
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m_pNC.resizeNoInitialize(m_tmpSolverNonContactConstraintPool.size());
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m_pC.resizeNoInitialize(m_tmpSolverContactConstraintPool.size());
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m_pCF.resizeNoInitialize(m_tmpSolverContactFrictionConstraintPool.size());
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m_pCRF.resizeNoInitialize(m_tmpSolverContactRollingFrictionConstraintPool.size());
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m_deltafNC.resizeNoInitialize(m_tmpSolverNonContactConstraintPool.size());
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m_deltafC.resizeNoInitialize(m_tmpSolverContactConstraintPool.size());
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m_deltafCF.resizeNoInitialize(m_tmpSolverContactFrictionConstraintPool.size());
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m_deltafCRF.resizeNoInitialize(m_tmpSolverContactRollingFrictionConstraintPool.size());
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return val;
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}
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btScalar btNNCGConstraintSolver::solveSingleIteration(int iteration, btCollisionObject** /*bodies */, int /*numBodies*/, btPersistentManifold** /*manifoldPtr*/, int /*numManifolds*/, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* /*debugDrawer*/)
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{
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int numNonContactPool = m_tmpSolverNonContactConstraintPool.size();
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int numConstraintPool = m_tmpSolverContactConstraintPool.size();
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int numFrictionPool = m_tmpSolverContactFrictionConstraintPool.size();
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if (infoGlobal.m_solverMode & SOLVER_RANDMIZE_ORDER)
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{
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if (1) // uncomment this for a bit less random ((iteration & 7) == 0)
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{
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for (int j = 0; j < numNonContactPool; ++j)
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{
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int tmp = m_orderNonContactConstraintPool[j];
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int swapi = btRandInt2(j + 1);
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m_orderNonContactConstraintPool[j] = m_orderNonContactConstraintPool[swapi];
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m_orderNonContactConstraintPool[swapi] = tmp;
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}
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//contact/friction constraints are not solved more than
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if (iteration < infoGlobal.m_numIterations)
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{
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for (int j = 0; j < numConstraintPool; ++j)
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{
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int tmp = m_orderTmpConstraintPool[j];
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int swapi = btRandInt2(j + 1);
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m_orderTmpConstraintPool[j] = m_orderTmpConstraintPool[swapi];
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m_orderTmpConstraintPool[swapi] = tmp;
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}
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for (int j = 0; j < numFrictionPool; ++j)
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{
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int tmp = m_orderFrictionConstraintPool[j];
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int swapi = btRandInt2(j + 1);
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m_orderFrictionConstraintPool[j] = m_orderFrictionConstraintPool[swapi];
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m_orderFrictionConstraintPool[swapi] = tmp;
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}
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}
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}
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}
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btScalar deltaflengthsqr = 0;
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{
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for (int j = 0; j < m_tmpSolverNonContactConstraintPool.size(); j++)
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{
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btSolverConstraint& constraint = m_tmpSolverNonContactConstraintPool[m_orderNonContactConstraintPool[j]];
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if (iteration < constraint.m_overrideNumSolverIterations)
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{
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btScalar deltaf = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[constraint.m_solverBodyIdA], m_tmpSolverBodyPool[constraint.m_solverBodyIdB], constraint);
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m_deltafNC[j] = deltaf;
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deltaflengthsqr += deltaf * deltaf;
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}
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}
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}
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if (m_onlyForNoneContact)
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{
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if (iteration == 0)
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{
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for (int j = 0; j < m_tmpSolverNonContactConstraintPool.size(); j++) m_pNC[j] = m_deltafNC[j];
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}
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else
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{
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// deltaflengthsqrprev can be 0 only if the solver solved the problem exactly in the previous iteration. In this case we should have quit, but mainly for debug reason with this 'hack' it is now allowed to continue the calculation
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btScalar beta = m_deltafLengthSqrPrev > 0 ? deltaflengthsqr / m_deltafLengthSqrPrev : 2;
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if (beta > 1)
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{
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for (int j = 0; j < m_tmpSolverNonContactConstraintPool.size(); j++) m_pNC[j] = 0;
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}
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else
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{
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for (int j = 0; j < m_tmpSolverNonContactConstraintPool.size(); j++)
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{
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btSolverConstraint& constraint = m_tmpSolverNonContactConstraintPool[m_orderNonContactConstraintPool[j]];
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if (iteration < constraint.m_overrideNumSolverIterations)
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{
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btScalar additionaldeltaimpulse = beta * m_pNC[j];
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constraint.m_appliedImpulse = btScalar(constraint.m_appliedImpulse) + additionaldeltaimpulse;
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m_pNC[j] = beta * m_pNC[j] + m_deltafNC[j];
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btSolverBody& body1 = m_tmpSolverBodyPool[constraint.m_solverBodyIdA];
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btSolverBody& body2 = m_tmpSolverBodyPool[constraint.m_solverBodyIdB];
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const btSolverConstraint& c = constraint;
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body1.internalApplyImpulse(c.m_contactNormal1 * body1.internalGetInvMass(), c.m_angularComponentA, additionaldeltaimpulse);
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body2.internalApplyImpulse(c.m_contactNormal2 * body2.internalGetInvMass(), c.m_angularComponentB, additionaldeltaimpulse);
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}
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}
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}
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}
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m_deltafLengthSqrPrev = deltaflengthsqr;
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}
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{
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if (iteration < infoGlobal.m_numIterations)
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{
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for (int j = 0; j < numConstraints; j++)
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{
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if (constraints[j]->isEnabled())
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{
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int bodyAid = getOrInitSolverBody(constraints[j]->getRigidBodyA(), infoGlobal.m_timeStep);
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int bodyBid = getOrInitSolverBody(constraints[j]->getRigidBodyB(), infoGlobal.m_timeStep);
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btSolverBody& bodyA = m_tmpSolverBodyPool[bodyAid];
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btSolverBody& bodyB = m_tmpSolverBodyPool[bodyBid];
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constraints[j]->solveConstraintObsolete(bodyA, bodyB, infoGlobal.m_timeStep);
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}
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}
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///solve all contact constraints
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if (infoGlobal.m_solverMode & SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS)
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{
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int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
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int multiplier = (infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS) ? 2 : 1;
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for (int c = 0; c < numPoolConstraints; c++)
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{
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btScalar totalImpulse = 0;
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{
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const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[c]];
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btScalar deltaf = resolveSingleConstraintRowLowerLimit(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold);
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m_deltafC[c] = deltaf;
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deltaflengthsqr += deltaf * deltaf;
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totalImpulse = solveManifold.m_appliedImpulse;
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}
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bool applyFriction = true;
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if (applyFriction)
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{
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{
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btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[c * multiplier]];
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if (totalImpulse > btScalar(0))
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{
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solveManifold.m_lowerLimit = -(solveManifold.m_friction * totalImpulse);
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solveManifold.m_upperLimit = solveManifold.m_friction * totalImpulse;
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btScalar deltaf = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold);
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m_deltafCF[c * multiplier] = deltaf;
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deltaflengthsqr += deltaf * deltaf;
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}
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else
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{
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m_deltafCF[c * multiplier] = 0;
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}
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}
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if (infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)
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{
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btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[c * multiplier + 1]];
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if (totalImpulse > btScalar(0))
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{
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solveManifold.m_lowerLimit = -(solveManifold.m_friction * totalImpulse);
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solveManifold.m_upperLimit = solveManifold.m_friction * totalImpulse;
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btScalar deltaf = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold);
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m_deltafCF[c * multiplier + 1] = deltaf;
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deltaflengthsqr += deltaf * deltaf;
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}
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else
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{
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m_deltafCF[c * multiplier + 1] = 0;
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}
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}
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}
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}
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}
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else //SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS
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{
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//solve the friction constraints after all contact constraints, don't interleave them
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int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
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int j;
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for (j = 0; j < numPoolConstraints; j++)
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{
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const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]];
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btScalar deltaf = resolveSingleConstraintRowLowerLimit(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold);
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m_deltafC[j] = deltaf;
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deltaflengthsqr += deltaf * deltaf;
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}
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///solve all friction constraints
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int numFrictionPoolConstraints = m_tmpSolverContactFrictionConstraintPool.size();
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for (j = 0; j < numFrictionPoolConstraints; j++)
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{
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btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[j]];
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btScalar totalImpulse = m_tmpSolverContactConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse;
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if (totalImpulse > btScalar(0))
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{
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solveManifold.m_lowerLimit = -(solveManifold.m_friction * totalImpulse);
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solveManifold.m_upperLimit = solveManifold.m_friction * totalImpulse;
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btScalar deltaf = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold);
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m_deltafCF[j] = deltaf;
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deltaflengthsqr += deltaf * deltaf;
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}
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else
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{
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m_deltafCF[j] = 0;
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}
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}
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}
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{
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int numRollingFrictionPoolConstraints = m_tmpSolverContactRollingFrictionConstraintPool.size();
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for (int j = 0; j < numRollingFrictionPoolConstraints; j++)
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{
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btSolverConstraint& rollingFrictionConstraint = m_tmpSolverContactRollingFrictionConstraintPool[j];
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btScalar totalImpulse = m_tmpSolverContactConstraintPool[rollingFrictionConstraint.m_frictionIndex].m_appliedImpulse;
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if (totalImpulse > btScalar(0))
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{
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btScalar rollingFrictionMagnitude = rollingFrictionConstraint.m_friction * totalImpulse;
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if (rollingFrictionMagnitude > rollingFrictionConstraint.m_friction)
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rollingFrictionMagnitude = rollingFrictionConstraint.m_friction;
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rollingFrictionConstraint.m_lowerLimit = -rollingFrictionMagnitude;
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rollingFrictionConstraint.m_upperLimit = rollingFrictionMagnitude;
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btScalar deltaf = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdA], m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdB], rollingFrictionConstraint);
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m_deltafCRF[j] = deltaf;
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deltaflengthsqr += deltaf * deltaf;
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}
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else
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{
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m_deltafCRF[j] = 0;
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}
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}
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}
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}
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}
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if (!m_onlyForNoneContact)
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{
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if (iteration == 0)
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{
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for (int j = 0; j < m_tmpSolverNonContactConstraintPool.size(); j++) m_pNC[j] = m_deltafNC[j];
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for (int j = 0; j < m_tmpSolverContactConstraintPool.size(); j++) m_pC[j] = m_deltafC[j];
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for (int j = 0; j < m_tmpSolverContactFrictionConstraintPool.size(); j++) m_pCF[j] = m_deltafCF[j];
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for (int j = 0; j < m_tmpSolverContactRollingFrictionConstraintPool.size(); j++) m_pCRF[j] = m_deltafCRF[j];
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}
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else
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{
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// deltaflengthsqrprev can be 0 only if the solver solved the problem exactly in the previous iteration. In this case we should have quit, but mainly for debug reason with this 'hack' it is now allowed to continue the calculation
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btScalar beta = m_deltafLengthSqrPrev > 0 ? deltaflengthsqr / m_deltafLengthSqrPrev : 2;
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if (beta > 1)
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{
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for (int j = 0; j < m_tmpSolverNonContactConstraintPool.size(); j++) m_pNC[j] = 0;
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for (int j = 0; j < m_tmpSolverContactConstraintPool.size(); j++) m_pC[j] = 0;
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for (int j = 0; j < m_tmpSolverContactFrictionConstraintPool.size(); j++) m_pCF[j] = 0;
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for (int j = 0; j < m_tmpSolverContactRollingFrictionConstraintPool.size(); j++) m_pCRF[j] = 0;
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}
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else
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{
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for (int j = 0; j < m_tmpSolverNonContactConstraintPool.size(); j++)
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{
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btSolverConstraint& constraint = m_tmpSolverNonContactConstraintPool[m_orderNonContactConstraintPool[j]];
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if (iteration < constraint.m_overrideNumSolverIterations)
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{
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btScalar additionaldeltaimpulse = beta * m_pNC[j];
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constraint.m_appliedImpulse = btScalar(constraint.m_appliedImpulse) + additionaldeltaimpulse;
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m_pNC[j] = beta * m_pNC[j] + m_deltafNC[j];
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btSolverBody& body1 = m_tmpSolverBodyPool[constraint.m_solverBodyIdA];
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btSolverBody& body2 = m_tmpSolverBodyPool[constraint.m_solverBodyIdB];
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const btSolverConstraint& c = constraint;
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body1.internalApplyImpulse(c.m_contactNormal1 * body1.internalGetInvMass(), c.m_angularComponentA, additionaldeltaimpulse);
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body2.internalApplyImpulse(c.m_contactNormal2 * body2.internalGetInvMass(), c.m_angularComponentB, additionaldeltaimpulse);
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}
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}
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for (int j = 0; j < m_tmpSolverContactConstraintPool.size(); j++)
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{
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btSolverConstraint& constraint = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]];
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if (iteration < infoGlobal.m_numIterations)
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{
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btScalar additionaldeltaimpulse = beta * m_pC[j];
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constraint.m_appliedImpulse = btScalar(constraint.m_appliedImpulse) + additionaldeltaimpulse;
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m_pC[j] = beta * m_pC[j] + m_deltafC[j];
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btSolverBody& body1 = m_tmpSolverBodyPool[constraint.m_solverBodyIdA];
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btSolverBody& body2 = m_tmpSolverBodyPool[constraint.m_solverBodyIdB];
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const btSolverConstraint& c = constraint;
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body1.internalApplyImpulse(c.m_contactNormal1 * body1.internalGetInvMass(), c.m_angularComponentA, additionaldeltaimpulse);
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body2.internalApplyImpulse(c.m_contactNormal2 * body2.internalGetInvMass(), c.m_angularComponentB, additionaldeltaimpulse);
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}
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}
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for (int j = 0; j < m_tmpSolverContactFrictionConstraintPool.size(); j++)
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{
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btSolverConstraint& constraint = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[j]];
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if (iteration < infoGlobal.m_numIterations)
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{
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btScalar additionaldeltaimpulse = beta * m_pCF[j];
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constraint.m_appliedImpulse = btScalar(constraint.m_appliedImpulse) + additionaldeltaimpulse;
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m_pCF[j] = beta * m_pCF[j] + m_deltafCF[j];
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btSolverBody& body1 = m_tmpSolverBodyPool[constraint.m_solverBodyIdA];
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btSolverBody& body2 = m_tmpSolverBodyPool[constraint.m_solverBodyIdB];
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const btSolverConstraint& c = constraint;
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body1.internalApplyImpulse(c.m_contactNormal1 * body1.internalGetInvMass(), c.m_angularComponentA, additionaldeltaimpulse);
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body2.internalApplyImpulse(c.m_contactNormal2 * body2.internalGetInvMass(), c.m_angularComponentB, additionaldeltaimpulse);
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}
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}
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{
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for (int j = 0; j < m_tmpSolverContactRollingFrictionConstraintPool.size(); j++)
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{
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btSolverConstraint& constraint = m_tmpSolverContactRollingFrictionConstraintPool[j];
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if (iteration < infoGlobal.m_numIterations)
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{
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btScalar additionaldeltaimpulse = beta * m_pCRF[j];
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constraint.m_appliedImpulse = btScalar(constraint.m_appliedImpulse) + additionaldeltaimpulse;
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m_pCRF[j] = beta * m_pCRF[j] + m_deltafCRF[j];
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btSolverBody& body1 = m_tmpSolverBodyPool[constraint.m_solverBodyIdA];
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btSolverBody& body2 = m_tmpSolverBodyPool[constraint.m_solverBodyIdB];
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const btSolverConstraint& c = constraint;
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body1.internalApplyImpulse(c.m_contactNormal1 * body1.internalGetInvMass(), c.m_angularComponentA, additionaldeltaimpulse);
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body2.internalApplyImpulse(c.m_contactNormal2 * body2.internalGetInvMass(), c.m_angularComponentB, additionaldeltaimpulse);
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}
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}
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}
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}
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}
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m_deltafLengthSqrPrev = deltaflengthsqr;
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}
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return deltaflengthsqr;
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}
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btScalar btNNCGConstraintSolver::solveGroupCacheFriendlyFinish(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal)
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{
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m_pNC.resizeNoInitialize(0);
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m_pC.resizeNoInitialize(0);
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m_pCF.resizeNoInitialize(0);
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m_pCRF.resizeNoInitialize(0);
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m_deltafNC.resizeNoInitialize(0);
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m_deltafC.resizeNoInitialize(0);
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m_deltafCF.resizeNoInitialize(0);
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m_deltafCRF.resizeNoInitialize(0);
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return btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish(bodies, numBodies, infoGlobal);
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}
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