bullet: Add bullet-split-impulse config variable

Fixes #1201

Co-authored-by: K9Kraken <[email protected]>

panda/src/bullet/bulletWorld.cxx

@@ -125,7 +125,7 @@ BulletWorld() {
   // Some prefered settings
   _world->getDispatchInfo().m_enableSPU = true;      // default: true
   _world->getDispatchInfo().m_useContinuous = true;  // default: true
-  _world->getSolverInfo().m_splitImpulse = false;    // default: false
+  _world->getSolverInfo().m_splitImpulse = bullet_split_impulse;
   _world->getSolverInfo().m_numIterations = bullet_solver_iterations;
 }
 

panda/src/bullet/config_bullet.cxx

@@ -100,6 +100,11 @@ PRC_DESC("Specifies if events should be send when new contacts are "
          "contact events might create more load on the event queue "
          "then you might want! Default value is FALSE."));
 
+ConfigVariableBool bullet_split_impulse
+("bullet-split-impulse", false,
+PRC_DESC("Penetrating recovery won't add momentum. "
+         "btContactSolverInfo::m_splitImpulse. Default value is false."));
+
 ConfigVariableInt bullet_solver_iterations
 ("bullet-solver-iterations", 10,
 PRC_DESC("Specifies the number of iterations for the Bullet contact "

panda/src/bullet/config_bullet.h

@@ -33,6 +33,7 @@ extern ConfigVariableEnum<BulletWorld::BroadphaseAlgorithm> bullet_broadphase_al
 extern ConfigVariableEnum<BulletWorld::FilterAlgorithm> bullet_filter_algorithm;
 extern ConfigVariableDouble bullet_sap_extents;
 extern ConfigVariableBool bullet_enable_contact_events;
+extern ConfigVariableBool bullet_split_impulse;
 extern ConfigVariableInt bullet_solver_iterations;
 extern ConfigVariableBool bullet_additional_damping;
 extern ConfigVariableDouble bullet_additional_damping_linear_factor;