use different solvers simultaneously

[gdlk]

Hi!

I was curious about if is possible use different solvers simultaneously. For example solve several constraints with SI, and solve constraint where the bodies has large mass ratio with mlcp. If so, the phases to modify would be the collision detection phase (to generate separate pairs list to feed the different solvers) and the solver phase itself? (I am trying to learn the theory behind a physics engine and try to understand in a better way bullet internals to modify/develop it, but is a long way..., so I prefer to ask if this is possible theoretically before try it )

Thanks!!

[Basroil]

You can use different constraint for different islands if you use a special dispatcher (take a look at the recent multithreaded bullet fork), but you cannot use different solvers for things within a single island.

[gdlk]

Great!! Thanks!!