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Some more minor improvements for PS3 SPU version

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erwin.coumans
2009-08-05 23:25:44 +00:00
parent 3e2529fcb5
commit 1808ec6a0e
2 changed files with 86 additions and 27 deletions
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19
src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h
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@@ -12,6 +12,10 @@ subject to the following restrictions:
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
/// 2009 March: btGeneric6DofConstraint refactored by Roman Ponomarev
/// Added support for generic constraint solver through getInfo1/getInfo2 methods
/*
2007-09-09
btGeneric6DofConstraint Refactored by Francisco Le?n
@@ -289,9 +293,9 @@ protected:
}
int setAngularLimits(btConstraintInfo2 *info, int row_offset);
int setAngularLimits(btConstraintInfo2 *info, int row_offset,const btTransform& transA,const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB,const btVector3& angVelA,const btVector3& angVelB);
int setLinearLimits(btConstraintInfo2 *info);
int setLinearLimits(btConstraintInfo2 *info,const btTransform& transA,const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB,const btVector3& angVelA,const btVector3& angVelB);
void buildLinearJacobian(
btJacobianEntry & jacLinear,const btVector3 & normalWorld,
@@ -321,7 +325,9 @@ public:
Calcs the global transform for the joint offset for body A an B, and also calcs the agle differences between the bodies.
\sa btGeneric6DofConstraint.getCalculatedTransformA , btGeneric6DofConstraint.getCalculatedTransformB, btGeneric6DofConstraint.calculateAngleInfo
*/
void calculateTransforms();
void calculateTransforms(const btTransform& transA,const btTransform& transB);
void calculateTransforms();
//! Gets the global transform of the offset for body A
/*!
@@ -368,8 +374,13 @@ public:
virtual void getInfo1 (btConstraintInfo1* info);
void getInfo1NonVirtual (btConstraintInfo1* info);
virtual void getInfo2 (btConstraintInfo2* info);
void getInfo2NonVirtual (btConstraintInfo2* info,const btTransform& transA,const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB,const btVector3& angVelA,const btVector3& angVelB);
virtual void solveConstraintObsolete(btSolverBody& bodyA,btSolverBody& bodyB,btScalar timeStep);
void updateRHS(btScalar timeStep);
@@ -480,7 +491,7 @@ public:
virtual void calcAnchorPos(void); // overridable
int get_limit_motor_info2( btRotationalLimitMotor * limot,
btRigidBody * body0, btRigidBody * body1,
const btTransform& transA,const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB,const btVector3& angVelA,const btVector3& angVelB,
btConstraintInfo2 *info, int row, btVector3& ax1, int rotational);