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added quickstep improvements, to allow for constraints (point to point etc).

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Thanks Francisco Leon/projectileman
This commit is contained in:
ejcoumans
2007-09-13 07:44:05 +00:00
parent 7f5823ee16
commit 0bf8124668
6 changed files with 1043 additions and 352 deletions
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22
Extras/quickstep/OdeConstraintSolver.h
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@@ -4,8 +4,8 @@ Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
@@ -20,7 +20,6 @@ subject to the following restrictions:
class btRigidBody;
struct OdeSolverBody;
class btDispatcher;
class BU_Joint;
/// OdeConstraintSolver is one of the available solvers for Bullet dynamics framework
@@ -31,26 +30,33 @@ private:
int m_CurBody;
int m_CurJoint;
int m_CurTypedJoint;
float m_cfm;
float m_erp;
int ConvertBody(btRigidBody* body,OdeSolverBody** bodies,int& numBodies);
void ConvertConstraint(btPersistentManifold* manifold,BU_Joint** joints,int& numJoints,
OdeSolverBody** bodies,int _bodyId0,int _bodyId1,btIDebugDraw* debugDrawer);
void ConvertTypedConstraint(
btTypedConstraint * constraint,BU_Joint** joints,int& numJoints,
OdeSolverBody** bodies,int _bodyId0,int _bodyId1,btIDebugDraw* debugDrawer);
public:
OdeConstraintSolver();
virtual ~OdeConstraintSolver() {}
virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc,btDispatcher* dispatcher);
///setConstraintForceMixing, the cfm adds some positive value to the main diagonal
///This can improve convergence (make matrix positive semidefinite), but it can make the simulation look more 'springy'
void setConstraintForceMixing(float cfm) {
void setConstraintForceMixing(float cfm) {
m_cfm = cfm;
}
@@ -61,7 +67,9 @@ public:
m_erp = erp;
}
virtual void reset();
void reset()
{
}
};