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merged most of the changes from the branch into trunk, except for COLLADA, libxml and glut glitches.

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Still need to verify to make sure no unwanted renaming is introduced.
This commit is contained in:
ejcoumans
2006-09-27 20:43:51 +00:00
parent d1e9a885f3
commit eb23bb5c0c
263 changed files with 7528 additions and 6714 deletions
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94
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
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@@ -20,12 +20,12 @@ subject to the following restrictions:
#include "btContactConstraint.h"
#include "btSolve2LinearConstraint.h"
#include "btContactSolverInfo.h"
#include "LinearMath/GenIDebugDraw.h"
#include "LinearMath/btIDebugDraw.h"
#include "btJacobianEntry.h"
#include "LinearMath/GenMinMax.h"
#include "LinearMath/btMinMax.h"
#ifdef USE_PROFILE
#include "LinearMath/GenQuickprof.h"
#include "LinearMath/btQuickprof.h"
#endif //USE_PROFILE
int totalCpd = 0;
@@ -35,7 +35,7 @@ int gTotalContactPoints = 0;
bool MyContactDestroyedCallback(void* userPersistentData)
{
assert (userPersistentData);
ConstraintPersistentData* cpd = (ConstraintPersistentData*)userPersistentData;
btConstraintPersistentData* cpd = (btConstraintPersistentData*)userPersistentData;
delete cpd;
totalCpd--;
//printf("totalCpd = %i. DELETED Ptr %x\n",totalCpd,userPersistentData);
@@ -43,7 +43,7 @@ bool MyContactDestroyedCallback(void* userPersistentData)
}
SequentialImpulseConstraintSolver::SequentialImpulseConstraintSolver()
btSequentialImpulseConstraintSolver::btSequentialImpulseConstraintSolver()
{
gContactDestroyedCallback = &MyContactDestroyedCallback;
@@ -58,15 +58,15 @@ SequentialImpulseConstraintSolver::SequentialImpulseConstraintSolver()
}
}
/// SequentialImpulseConstraintSolver Sequentially applies impulses
float SequentialImpulseConstraintSolver::SolveGroup(PersistentManifold** manifoldPtr, int numManifolds,const ContactSolverInfo& infoGlobal,IDebugDraw* debugDrawer)
/// btSequentialImpulseConstraintSolver Sequentially applies impulses
float btSequentialImpulseConstraintSolver::SolveGroup(btPersistentManifold** manifoldPtr, int numManifolds,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer)
{
ContactSolverInfo info = infoGlobal;
btContactSolverInfo info = infoGlobal;
int numiter = infoGlobal.m_numIterations;
#ifdef USE_PROFILE
Profiler::beginBlock("Solve");
btProfiler::beginBlock("Solve");
#endif //USE_PROFILE
{
@@ -98,9 +98,9 @@ float SequentialImpulseConstraintSolver::SolveGroup(PersistentManifold** manifol
}
#ifdef USE_PROFILE
Profiler::endBlock("Solve");
btProfiler::endBlock("Solve");
Profiler::beginBlock("SolveFriction");
btProfiler::beginBlock("SolveFriction");
#endif //USE_PROFILE
//now solve the friction
@@ -116,7 +116,7 @@ float SequentialImpulseConstraintSolver::SolveGroup(PersistentManifold** manifol
}
}
#ifdef USE_PROFILE
Profiler::endBlock("SolveFriction");
btProfiler::endBlock("SolveFriction");
#endif //USE_PROFILE
return 0.f;
@@ -124,18 +124,18 @@ float SequentialImpulseConstraintSolver::SolveGroup(PersistentManifold** manifol
float penetrationResolveFactor = 0.9f;
SimdScalar restitutionCurve(SimdScalar rel_vel, SimdScalar restitution)
btScalar restitutionCurve(btScalar rel_vel, btScalar restitution)
{
SimdScalar rest = restitution * -rel_vel;
btScalar rest = restitution * -rel_vel;
return rest;
}
void SequentialImpulseConstraintSolver::PrepareConstraints(PersistentManifold* manifoldPtr, const ContactSolverInfo& info,IDebugDraw* debugDrawer)
void btSequentialImpulseConstraintSolver::PrepareConstraints(btPersistentManifold* manifoldPtr, const btContactSolverInfo& info,btIDebugDraw* debugDrawer)
{
RigidBody* body0 = (RigidBody*)manifoldPtr->GetBody0();
RigidBody* body1 = (RigidBody*)manifoldPtr->GetBody1();
btRigidBody* body0 = (btRigidBody*)manifoldPtr->GetBody0();
btRigidBody* body1 = (btRigidBody*)manifoldPtr->GetBody1();
//only necessary to refresh the manifold once (first iteration). The integration is done outside the loop
@@ -146,29 +146,29 @@ void SequentialImpulseConstraintSolver::PrepareConstraints(PersistentManifold* m
gTotalContactPoints += numpoints;
SimdVector3 color(0,1,0);
btVector3 color(0,1,0);
for (int i=0;i<numpoints ;i++)
{
ManifoldPoint& cp = manifoldPtr->GetContactPoint(i);
btManifoldPoint& cp = manifoldPtr->GetContactPoint(i);
if (cp.GetDistance() <= 0.f)
{
const SimdVector3& pos1 = cp.GetPositionWorldOnA();
const SimdVector3& pos2 = cp.GetPositionWorldOnB();
const btVector3& pos1 = cp.GetPositionWorldOnA();
const btVector3& pos2 = cp.GetPositionWorldOnB();
SimdVector3 rel_pos1 = pos1 - body0->getCenterOfMassPosition();
SimdVector3 rel_pos2 = pos2 - body1->getCenterOfMassPosition();
btVector3 rel_pos1 = pos1 - body0->getCenterOfMassPosition();
btVector3 rel_pos2 = pos2 - body1->getCenterOfMassPosition();
//this jacobian entry is re-used for all iterations
JacobianEntry jac(body0->getCenterOfMassTransform().getBasis().transpose(),
btJacobianEntry jac(body0->getCenterOfMassTransform().getBasis().transpose(),
body1->getCenterOfMassTransform().getBasis().transpose(),
rel_pos1,rel_pos2,cp.m_normalWorldOnB,body0->getInvInertiaDiagLocal(),body0->getInvMass(),
body1->getInvInertiaDiagLocal(),body1->getInvMass());
SimdScalar jacDiagAB = jac.getDiagonal();
btScalar jacDiagAB = jac.getDiagonal();
ConstraintPersistentData* cpd = (ConstraintPersistentData*) cp.m_userPersistentData;
btConstraintPersistentData* cpd = (btConstraintPersistentData*) cp.m_userPersistentData;
if (cpd)
{
//might be invalid
@@ -176,7 +176,7 @@ void SequentialImpulseConstraintSolver::PrepareConstraints(PersistentManifold* m
if (cpd->m_persistentLifeTime != cp.GetLifeTime())
{
//printf("Invalid: cpd->m_persistentLifeTime = %i cp.GetLifeTime() = %i\n",cpd->m_persistentLifeTime,cp.GetLifeTime());
new (cpd) ConstraintPersistentData;
new (cpd) btConstraintPersistentData;
cpd->m_persistentLifeTime = cp.GetLifeTime();
} else
@@ -187,7 +187,7 @@ void SequentialImpulseConstraintSolver::PrepareConstraints(PersistentManifold* m
} else
{
cpd = new ConstraintPersistentData();
cpd = new btConstraintPersistentData();
totalCpd ++;
//printf("totalCpd = %i Created Ptr %x\n",totalCpd,cpd);
cp.m_userPersistentData = cpd;
@@ -205,10 +205,10 @@ void SequentialImpulseConstraintSolver::PrepareConstraints(PersistentManifold* m
cpd->m_frictionSolverFunc = m_frictionDispatch[body0->m_frictionSolverType][body1->m_frictionSolverType];
cpd->m_contactSolverFunc = m_contactDispatch[body0->m_contactSolverType][body1->m_contactSolverType];
SimdVector3 vel1 = body0->getVelocityInLocalPoint(rel_pos1);
SimdVector3 vel2 = body1->getVelocityInLocalPoint(rel_pos2);
SimdVector3 vel = vel1 - vel2;
SimdScalar rel_vel;
btVector3 vel1 = body0->getVelocityInLocalPoint(rel_pos1);
btVector3 vel2 = body1->getVelocityInLocalPoint(rel_pos2);
btVector3 vel = vel1 - vel2;
btScalar rel_vel;
rel_vel = cp.m_normalWorldOnB.dot(vel);
float combinedRestitution = cp.m_combinedRestitution;
@@ -225,7 +225,7 @@ void SequentialImpulseConstraintSolver::PrepareConstraints(PersistentManifold* m
//restitution and penetration work in same direction so
//rel_vel
SimdScalar penVel = -cpd->m_penetration/info.m_timeStep;
btScalar penVel = -cpd->m_penetration/info.m_timeStep;
if (cpd->m_restitution >= penVel)
{
@@ -239,7 +239,7 @@ void SequentialImpulseConstraintSolver::PrepareConstraints(PersistentManifold* m
cpd->m_prevAppliedImpulse = cpd->m_appliedImpulse;
//re-calculate friction direction every frame, todo: check if this is really needed
SimdPlaneSpace1(cp.m_normalWorldOnB,cpd->m_frictionWorldTangential0,cpd->m_frictionWorldTangential1);
btPlaneSpace1(cp.m_normalWorldOnB,cpd->m_frictionWorldTangential0,cpd->m_frictionWorldTangential1);
#define NO_FRICTION_WARMSTART 1
@@ -259,7 +259,7 @@ void SequentialImpulseConstraintSolver::PrepareConstraints(PersistentManifold* m
denom = relaxation/(denom0+denom1);
cpd->m_jacDiagABInvTangent1 = denom;
SimdVector3 totalImpulse =
btVector3 totalImpulse =
#ifndef NO_FRICTION_WARMSTART
cp.m_frictionWorldTangential0*cp.m_accumulatedTangentImpulse0+
cp.m_frictionWorldTangential1*cp.m_accumulatedTangentImpulse1+
@@ -275,18 +275,18 @@ void SequentialImpulseConstraintSolver::PrepareConstraints(PersistentManifold* m
}
}
float SequentialImpulseConstraintSolver::Solve(PersistentManifold* manifoldPtr, const ContactSolverInfo& info,int iter,IDebugDraw* debugDrawer)
float btSequentialImpulseConstraintSolver::Solve(btPersistentManifold* manifoldPtr, const btContactSolverInfo& info,int iter,btIDebugDraw* debugDrawer)
{
RigidBody* body0 = (RigidBody*)manifoldPtr->GetBody0();
RigidBody* body1 = (RigidBody*)manifoldPtr->GetBody1();
btRigidBody* body0 = (btRigidBody*)manifoldPtr->GetBody0();
btRigidBody* body1 = (btRigidBody*)manifoldPtr->GetBody1();
float maxImpulse = 0.f;
{
const int numpoints = manifoldPtr->GetNumContacts();
SimdVector3 color(0,1,0);
btVector3 color(0,1,0);
for (int i=0;i<numpoints ;i++)
{
@@ -296,7 +296,7 @@ float SequentialImpulseConstraintSolver::Solve(PersistentManifold* manifoldPtr,
else
j=i;
ManifoldPoint& cp = manifoldPtr->GetContactPoint(j);
btManifoldPoint& cp = manifoldPtr->GetContactPoint(j);
if (cp.GetDistance() <= 0.f)
{
@@ -308,7 +308,7 @@ float SequentialImpulseConstraintSolver::Solve(PersistentManifold* manifoldPtr,
{
ConstraintPersistentData* cpd = (ConstraintPersistentData*) cp.m_userPersistentData;
btConstraintPersistentData* cpd = (btConstraintPersistentData*) cp.m_userPersistentData;
float impulse = cpd->m_contactSolverFunc(
*body0,*body1,
cp,
@@ -324,16 +324,16 @@ float SequentialImpulseConstraintSolver::Solve(PersistentManifold* manifoldPtr,
return maxImpulse;
}
float SequentialImpulseConstraintSolver::SolveFriction(PersistentManifold* manifoldPtr, const ContactSolverInfo& info,int iter,IDebugDraw* debugDrawer)
float btSequentialImpulseConstraintSolver::SolveFriction(btPersistentManifold* manifoldPtr, const btContactSolverInfo& info,int iter,btIDebugDraw* debugDrawer)
{
RigidBody* body0 = (RigidBody*)manifoldPtr->GetBody0();
RigidBody* body1 = (RigidBody*)manifoldPtr->GetBody1();
btRigidBody* body0 = (btRigidBody*)manifoldPtr->GetBody0();
btRigidBody* body1 = (btRigidBody*)manifoldPtr->GetBody1();
{
const int numpoints = manifoldPtr->GetNumContacts();
SimdVector3 color(0,1,0);
btVector3 color(0,1,0);
for (int i=0;i<numpoints ;i++)
{
@@ -341,11 +341,11 @@ float SequentialImpulseConstraintSolver::SolveFriction(PersistentManifold* manif
//if (iter % 2)
// j = numpoints-1-i;
ManifoldPoint& cp = manifoldPtr->GetContactPoint(j);
btManifoldPoint& cp = manifoldPtr->GetContactPoint(j);
if (cp.GetDistance() <= 0.f)
{
ConstraintPersistentData* cpd = (ConstraintPersistentData*) cp.m_userPersistentData;
btConstraintPersistentData* cpd = (btConstraintPersistentData*) cp.m_userPersistentData;
cpd->m_frictionSolverFunc(
*body0,*body1,
cp,