Ported Minkowski Portal Refinement mpr.c from libccd to OpenCL, for bettwe edge-edge performance (and additional contact point for degenerate/high detailed convex shapes)
Removed b3RigidBodyCL, replace by b3RigidBodyData and b3RigidBodyData_t shared between C++ host and OpenCL, Same for b3InertiaCL -> b3InertiaData
This commit is contained in:
erwincoumans
@@ -1,6 +1,6 @@
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#include "b3FixedConstraint.h"
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#include "Bullet3Collision/NarrowPhaseCollision/b3RigidBodyCL.h"
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#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
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#include "Bullet3Common/b3TransformUtil.h"
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#include <new>
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@@ -19,13 +19,13 @@ b3FixedConstraint::~b3FixedConstraint ()
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}
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void b3FixedConstraint::getInfo1 (b3ConstraintInfo1* info,const b3RigidBodyCL* bodies)
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void b3FixedConstraint::getInfo1 (b3ConstraintInfo1* info,const b3RigidBodyData* bodies)
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{
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info->m_numConstraintRows = 6;
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info->nub = 6;
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}
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void b3FixedConstraint::getInfo2 (b3ConstraintInfo2* info, const b3RigidBodyCL* bodies)
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void b3FixedConstraint::getInfo2 (b3ConstraintInfo2* info, const b3RigidBodyData* bodies)
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{
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//fix the 3 linear degrees of freedom
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@@ -16,9 +16,9 @@ public:
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virtual ~b3FixedConstraint();
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virtual void getInfo1 (b3ConstraintInfo1* info,const b3RigidBodyCL* bodies);
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virtual void getInfo1 (b3ConstraintInfo1* info,const b3RigidBodyData* bodies);
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virtual void getInfo2 (b3ConstraintInfo2* info, const b3RigidBodyCL* bodies);
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virtual void getInfo2 (b3ConstraintInfo2* info, const b3RigidBodyData* bodies);
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virtual void setParam(int num, b3Scalar value, int axis = -1)
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{
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@@ -20,7 +20,7 @@ http://gimpact.sf.net
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*/
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#include "b3Generic6DofConstraint.h"
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#include "Bullet3Collision/NarrowPhaseCollision/b3RigidBodyCL.h"
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#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
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#include "Bullet3Common/b3TransformUtil.h"
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#include "Bullet3Common/b3TransformUtil.h"
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@@ -36,7 +36,7 @@ http://gimpact.sf.net
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b3Generic6DofConstraint::b3Generic6DofConstraint(int rbA,int rbB, const b3Transform& frameInA, const b3Transform& frameInB, bool useLinearReferenceFrameA, const b3RigidBodyCL* bodies)
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b3Generic6DofConstraint::b3Generic6DofConstraint(int rbA,int rbB, const b3Transform& frameInA, const b3Transform& frameInB, bool useLinearReferenceFrameA, const b3RigidBodyData* bodies)
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: b3TypedConstraint(B3_D6_CONSTRAINT_TYPE, rbA, rbB)
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, m_frameInA(frameInA)
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, m_frameInB(frameInB),
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@@ -214,13 +214,13 @@ void b3Generic6DofConstraint::calculateAngleInfo()
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}
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static b3Transform getCenterOfMassTransform(const b3RigidBodyCL& body)
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static b3Transform getCenterOfMassTransform(const b3RigidBodyData& body)
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{
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b3Transform tr(body.m_quat,body.m_pos);
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return tr;
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}
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void b3Generic6DofConstraint::calculateTransforms(const b3RigidBodyCL* bodies)
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void b3Generic6DofConstraint::calculateTransforms(const b3RigidBodyData* bodies)
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{
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b3Transform transA;
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b3Transform transB;
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@@ -229,7 +229,7 @@ void b3Generic6DofConstraint::calculateTransforms(const b3RigidBodyCL* bodies)
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calculateTransforms(transA,transB,bodies);
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}
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void b3Generic6DofConstraint::calculateTransforms(const b3Transform& transA,const b3Transform& transB,const b3RigidBodyCL* bodies)
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void b3Generic6DofConstraint::calculateTransforms(const b3Transform& transA,const b3Transform& transB,const b3RigidBodyData* bodies)
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{
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m_calculatedTransformA = transA * m_frameInA;
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m_calculatedTransformB = transB * m_frameInB;
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@@ -272,7 +272,7 @@ bool b3Generic6DofConstraint::testAngularLimitMotor(int axis_index)
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void b3Generic6DofConstraint::getInfo1 (b3ConstraintInfo1* info,const b3RigidBodyCL* bodies)
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void b3Generic6DofConstraint::getInfo1 (b3ConstraintInfo1* info,const b3RigidBodyData* bodies)
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{
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//prepare constraint
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calculateTransforms(getCenterOfMassTransform(bodies[m_rbA]),getCenterOfMassTransform(bodies[m_rbB]),bodies);
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@@ -300,7 +300,7 @@ void b3Generic6DofConstraint::getInfo1 (b3ConstraintInfo1* info,const b3RigidBod
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// printf("info->m_numConstraintRows=%d\n",info->m_numConstraintRows);
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}
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void b3Generic6DofConstraint::getInfo1NonVirtual (b3ConstraintInfo1* info,const b3RigidBodyCL* bodies)
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void b3Generic6DofConstraint::getInfo1NonVirtual (b3ConstraintInfo1* info,const b3RigidBodyData* bodies)
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{
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//pre-allocate all 6
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info->m_numConstraintRows = 6;
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@@ -308,7 +308,7 @@ void b3Generic6DofConstraint::getInfo1NonVirtual (b3ConstraintInfo1* info,const
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}
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void b3Generic6DofConstraint::getInfo2 (b3ConstraintInfo2* info,const b3RigidBodyCL* bodies)
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void b3Generic6DofConstraint::getInfo2 (b3ConstraintInfo2* info,const b3RigidBodyData* bodies)
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{
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b3Transform transA = getCenterOfMassTransform(bodies[m_rbA]);
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@@ -332,7 +332,7 @@ void b3Generic6DofConstraint::getInfo2 (b3ConstraintInfo2* info,const b3RigidBod
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}
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void b3Generic6DofConstraint::getInfo2NonVirtual (b3ConstraintInfo2* info, const b3Transform& transA,const b3Transform& transB,const b3Vector3& linVelA,const b3Vector3& linVelB,const b3Vector3& angVelA,const b3Vector3& angVelB,const b3RigidBodyCL* bodies)
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void b3Generic6DofConstraint::getInfo2NonVirtual (b3ConstraintInfo2* info, const b3Transform& transA,const b3Transform& transB,const b3Vector3& linVelA,const b3Vector3& linVelB,const b3Vector3& angVelA,const b3Vector3& angVelB,const b3RigidBodyData* bodies)
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{
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//prepare constraint
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@@ -447,7 +447,7 @@ void b3Generic6DofConstraint::updateRHS(b3Scalar timeStep)
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}
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void b3Generic6DofConstraint::setFrames(const b3Transform& frameA, const b3Transform& frameB,const b3RigidBodyCL* bodies)
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void b3Generic6DofConstraint::setFrames(const b3Transform& frameA, const b3Transform& frameB,const b3RigidBodyData* bodies)
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{
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m_frameInA = frameA;
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m_frameInB = frameB;
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@@ -476,7 +476,7 @@ b3Scalar b3Generic6DofConstraint::getAngle(int axisIndex) const
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void b3Generic6DofConstraint::calcAnchorPos(const b3RigidBodyCL* bodies)
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void b3Generic6DofConstraint::calcAnchorPos(const b3RigidBodyData* bodies)
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{
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b3Scalar imA = bodies[m_rbA].m_invMass;
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b3Scalar imB = bodies[m_rbB].m_invMass;
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@@ -787,7 +787,7 @@ b3Scalar b3Generic6DofConstraint::getParam(int num, int axis) const
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void b3Generic6DofConstraint::setAxis(const b3Vector3& axis1,const b3Vector3& axis2, const b3RigidBodyCL* bodies)
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void b3Generic6DofConstraint::setAxis(const b3Vector3& axis1,const b3Vector3& axis2, const b3RigidBodyData* bodies)
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{
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b3Vector3 zAxis = axis1.normalized();
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b3Vector3 yAxis = axis2.normalized();
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@@ -31,7 +31,7 @@ http://gimpact.sf.net
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#include "b3JacobianEntry.h"
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#include "b3TypedConstraint.h"
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struct b3RigidBodyCL;
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struct b3RigidBodyData;
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@@ -123,7 +123,7 @@ public:
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int testLimitValue(b3Scalar test_value);
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//! apply the correction impulses for two bodies
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b3Scalar solveAngularLimits(b3Scalar timeStep,b3Vector3& axis, b3Scalar jacDiagABInv,b3RigidBodyCL * body0, b3RigidBodyCL * body1);
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b3Scalar solveAngularLimits(b3Scalar timeStep,b3Vector3& axis, b3Scalar jacDiagABInv,b3RigidBodyData * body0, b3RigidBodyData * body1);
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};
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@@ -214,8 +214,8 @@ public:
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b3Scalar solveLinearAxis(
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b3Scalar timeStep,
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b3Scalar jacDiagABInv,
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b3RigidBodyCL& body1,const b3Vector3 &pointInA,
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b3RigidBodyCL& body2,const b3Vector3 &pointInB,
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b3RigidBodyData& body1,const b3Vector3 &pointInA,
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b3RigidBodyData& body2,const b3Vector3 &pointInB,
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int limit_index,
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const b3Vector3 & axis_normal_on_a,
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const b3Vector3 & anchorPos);
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@@ -343,16 +343,16 @@ public:
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B3_DECLARE_ALIGNED_ALLOCATOR();
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b3Generic6DofConstraint(int rbA, int rbB, const b3Transform& frameInA, const b3Transform& frameInB ,bool useLinearReferenceFrameA,const b3RigidBodyCL* bodies);
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b3Generic6DofConstraint(int rbA, int rbB, const b3Transform& frameInA, const b3Transform& frameInB ,bool useLinearReferenceFrameA,const b3RigidBodyData* bodies);
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//! Calcs global transform of the offsets
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/*!
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Calcs the global transform for the joint offset for body A an B, and also calcs the agle differences between the bodies.
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\sa b3Generic6DofConstraint.getCalculatedTransformA , b3Generic6DofConstraint.getCalculatedTransformB, b3Generic6DofConstraint.calculateAngleInfo
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*/
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void calculateTransforms(const b3Transform& transA,const b3Transform& transB,const b3RigidBodyCL* bodies);
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void calculateTransforms(const b3Transform& transA,const b3Transform& transB,const b3RigidBodyData* bodies);
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void calculateTransforms(const b3RigidBodyCL* bodies);
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void calculateTransforms(const b3RigidBodyData* bodies);
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//! Gets the global transform of the offset for body A
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/*!
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@@ -395,13 +395,13 @@ public:
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virtual void getInfo1 (b3ConstraintInfo1* info,const b3RigidBodyCL* bodies);
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virtual void getInfo1 (b3ConstraintInfo1* info,const b3RigidBodyData* bodies);
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void getInfo1NonVirtual (b3ConstraintInfo1* info,const b3RigidBodyCL* bodies);
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void getInfo1NonVirtual (b3ConstraintInfo1* info,const b3RigidBodyData* bodies);
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virtual void getInfo2 (b3ConstraintInfo2* info,const b3RigidBodyCL* bodies);
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virtual void getInfo2 (b3ConstraintInfo2* info,const b3RigidBodyData* bodies);
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void getInfo2NonVirtual (b3ConstraintInfo2* info,const b3Transform& transA,const b3Transform& transB,const b3Vector3& linVelA,const b3Vector3& linVelB,const b3Vector3& angVelA,const b3Vector3& angVelB,const b3RigidBodyCL* bodies);
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void getInfo2NonVirtual (b3ConstraintInfo2* info,const b3Transform& transA,const b3Transform& transB,const b3Vector3& linVelA,const b3Vector3& linVelB,const b3Vector3& angVelA,const b3Vector3& angVelB,const b3RigidBodyData* bodies);
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void updateRHS(b3Scalar timeStep);
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@@ -421,7 +421,7 @@ public:
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*/
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b3Scalar getRelativePivotPosition(int axis_index) const;
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void setFrames(const b3Transform & frameA, const b3Transform & frameB, const b3RigidBodyCL* bodies);
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void setFrames(const b3Transform & frameA, const b3Transform & frameB, const b3RigidBodyData* bodies);
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//! Test angular limit.
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/*!
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@@ -520,7 +520,7 @@ public:
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return m_angularLimits[limitIndex-3].isLimited();
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}
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virtual void calcAnchorPos(const b3RigidBodyCL* bodies); // overridable
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virtual void calcAnchorPos(const b3RigidBodyData* bodies); // overridable
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int get_limit_motor_info2( b3RotationalLimitMotor * limot,
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const b3Transform& transA,const b3Transform& transB,const b3Vector3& linVelA,const b3Vector3& linVelB,const b3Vector3& angVelA,const b3Vector3& angVelB,
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@@ -536,7 +536,7 @@ public:
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///return the local value of parameter
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virtual b3Scalar getParam(int num, int axis = -1) const;
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void setAxis( const b3Vector3& axis1, const b3Vector3& axis2,const b3RigidBodyCL* bodies);
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void setAxis( const b3Vector3& axis1, const b3Vector3& axis2,const b3RigidBodyData* bodies);
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@@ -34,9 +34,9 @@ subject to the following restrictions:
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#include "Bullet3Collision/NarrowPhaseCollision/b3Contact4.h"
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#include "Bullet3Collision/NarrowPhaseCollision/b3RigidBodyCL.h"
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#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
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static b3Transform getWorldTransform(b3RigidBodyCL* rb)
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static b3Transform getWorldTransform(b3RigidBodyData* rb)
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{
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b3Transform newTrans;
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newTrans.setOrigin(rb->m_pos);
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@@ -44,24 +44,24 @@ static b3Transform getWorldTransform(b3RigidBodyCL* rb)
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return newTrans;
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}
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static const b3Matrix3x3& getInvInertiaTensorWorld(b3InertiaCL* inertia)
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static const b3Matrix3x3& getInvInertiaTensorWorld(b3InertiaData* inertia)
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{
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return inertia->m_invInertiaWorld;
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}
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static const b3Vector3& getLinearVelocity(b3RigidBodyCL* rb)
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static const b3Vector3& getLinearVelocity(b3RigidBodyData* rb)
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{
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return rb->m_linVel;
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}
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static const b3Vector3& getAngularVelocity(b3RigidBodyCL* rb)
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static const b3Vector3& getAngularVelocity(b3RigidBodyData* rb)
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{
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return rb->m_angVel;
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}
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static b3Vector3 getVelocityInLocalPoint(b3RigidBodyCL* rb, const b3Vector3& rel_pos)
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static b3Vector3 getVelocityInLocalPoint(b3RigidBodyData* rb, const b3Vector3& rel_pos)
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{
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//we also calculate lin/ang velocity for kinematic objects
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return getLinearVelocity(rb) + getAngularVelocity(rb).cross(rel_pos);
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@@ -152,7 +152,7 @@ b3PgsJacobiSolver::~b3PgsJacobiSolver()
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{
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}
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void b3PgsJacobiSolver::solveContacts(int numBodies, b3RigidBodyCL* bodies, b3InertiaCL* inertias, int numContacts, b3Contact4* contacts, int numConstraints, b3TypedConstraint** constraints)
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void b3PgsJacobiSolver::solveContacts(int numBodies, b3RigidBodyData* bodies, b3InertiaData* inertias, int numContacts, b3Contact4* contacts, int numConstraints, b3TypedConstraint** constraints)
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{
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b3ContactSolverInfo infoGlobal;
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infoGlobal.m_splitImpulse = false;
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@@ -176,8 +176,8 @@ void b3PgsJacobiSolver::solveContacts(int numBodies, b3RigidBodyCL* bodies, b3In
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/// b3PgsJacobiSolver Sequentially applies impulses
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b3Scalar b3PgsJacobiSolver::solveGroup(b3RigidBodyCL* bodies,
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b3InertiaCL* inertias,
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b3Scalar b3PgsJacobiSolver::solveGroup(b3RigidBodyData* bodies,
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b3InertiaData* inertias,
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int numBodies,
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b3Contact4* manifoldPtr,
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int numManifolds,
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@@ -439,7 +439,7 @@ int b3PgsJacobiSolver::b3RandInt2 (int n)
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void b3PgsJacobiSolver::initSolverBody(int bodyIndex, b3SolverBody* solverBody, b3RigidBodyCL* rb)
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void b3PgsJacobiSolver::initSolverBody(int bodyIndex, b3SolverBody* solverBody, b3RigidBodyData* rb)
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{
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solverBody->m_deltaLinearVelocity.setValue(0.f,0.f,0.f);
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@@ -450,7 +450,7 @@ void b3PgsJacobiSolver::initSolverBody(int bodyIndex, b3SolverBody* solverBody,
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if (rb)
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{
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solverBody->m_worldTransform = getWorldTransform(rb);
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solverBody->internalSetInvMass(b3MakeVector3(rb->getInvMass(),rb->getInvMass(),rb->getInvMass()));
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solverBody->internalSetInvMass(b3MakeVector3(rb->m_invMass,rb->m_invMass,rb->m_invMass));
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solverBody->m_originalBodyIndex = bodyIndex;
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solverBody->m_angularFactor = b3MakeVector3(1,1,1);
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solverBody->m_linearFactor = b3MakeVector3(1,1,1);
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@@ -486,7 +486,7 @@ b3Scalar b3PgsJacobiSolver::restitutionCurve(b3Scalar rel_vel, b3Scalar restitut
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void b3PgsJacobiSolver::setupFrictionConstraint(b3RigidBodyCL* bodies,b3InertiaCL* inertias, b3SolverConstraint& solverConstraint, const b3Vector3& normalAxis,int solverBodyIdA,int solverBodyIdB,b3ContactPoint& cp,const b3Vector3& rel_pos1,const b3Vector3& rel_pos2,b3RigidBodyCL* colObj0,b3RigidBodyCL* colObj1, b3Scalar relaxation, b3Scalar desiredVelocity, b3Scalar cfmSlip)
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void b3PgsJacobiSolver::setupFrictionConstraint(b3RigidBodyData* bodies,b3InertiaData* inertias, b3SolverConstraint& solverConstraint, const b3Vector3& normalAxis,int solverBodyIdA,int solverBodyIdB,b3ContactPoint& cp,const b3Vector3& rel_pos1,const b3Vector3& rel_pos2,b3RigidBodyData* colObj0,b3RigidBodyData* colObj1, b3Scalar relaxation, b3Scalar desiredVelocity, b3Scalar cfmSlip)
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{
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@@ -494,8 +494,8 @@ void b3PgsJacobiSolver::setupFrictionConstraint(b3RigidBodyCL* bodies,b3InertiaC
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b3SolverBody& solverBodyA = m_tmpSolverBodyPool[solverBodyIdA];
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b3SolverBody& solverBodyB = m_tmpSolverBodyPool[solverBodyIdB];
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b3RigidBodyCL* body0 = &bodies[solverBodyA.m_originalBodyIndex];
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b3RigidBodyCL* body1 = &bodies[solverBodyB.m_originalBodyIndex];
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b3RigidBodyData* body0 = &bodies[solverBodyA.m_originalBodyIndex];
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b3RigidBodyData* body1 = &bodies[solverBodyB.m_originalBodyIndex];
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solverConstraint.m_solverBodyIdA = solverBodyIdA;
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@@ -527,12 +527,12 @@ void b3PgsJacobiSolver::setupFrictionConstraint(b3RigidBodyCL* bodies,b3InertiaC
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if (body0)
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{
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vec = ( solverConstraint.m_angularComponentA).cross(rel_pos1);
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denom0 = body0->getInvMass() + normalAxis.dot(vec);
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denom0 = body0->m_invMass + normalAxis.dot(vec);
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}
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if (body1)
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{
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vec = ( -solverConstraint.m_angularComponentB).cross(rel_pos2);
|
||||
denom1 = body1->getInvMass() + normalAxis.dot(vec);
|
||||
denom1 = body1->m_invMass + normalAxis.dot(vec);
|
||||
}
|
||||
|
||||
b3Scalar denom;
|
||||
@@ -542,8 +542,8 @@ void b3PgsJacobiSolver::setupFrictionConstraint(b3RigidBodyCL* bodies,b3InertiaC
|
||||
} else
|
||||
{
|
||||
denom = relaxation/(denom0+denom1);
|
||||
b3Scalar countA = body0->getInvMass() ? b3Scalar(m_bodyCount[solverBodyA.m_originalBodyIndex]): 1.f;
|
||||
b3Scalar countB = body1->getInvMass() ? b3Scalar(m_bodyCount[solverBodyB.m_originalBodyIndex]): 1.f;
|
||||
b3Scalar countA = body0->m_invMass ? b3Scalar(m_bodyCount[solverBodyA.m_originalBodyIndex]): 1.f;
|
||||
b3Scalar countB = body1->m_invMass ? b3Scalar(m_bodyCount[solverBodyB.m_originalBodyIndex]): 1.f;
|
||||
|
||||
scaledDenom = relaxation/(denom0*countA+denom1*countB);
|
||||
}
|
||||
@@ -574,7 +574,7 @@ void b3PgsJacobiSolver::setupFrictionConstraint(b3RigidBodyCL* bodies,b3InertiaC
|
||||
}
|
||||
}
|
||||
|
||||
b3SolverConstraint& b3PgsJacobiSolver::addFrictionConstraint(b3RigidBodyCL* bodies,b3InertiaCL* inertias, const b3Vector3& normalAxis,int solverBodyIdA,int solverBodyIdB,int frictionIndex,b3ContactPoint& cp,const b3Vector3& rel_pos1,const b3Vector3& rel_pos2,b3RigidBodyCL* colObj0,b3RigidBodyCL* colObj1, b3Scalar relaxation, b3Scalar desiredVelocity, b3Scalar cfmSlip)
|
||||
b3SolverConstraint& b3PgsJacobiSolver::addFrictionConstraint(b3RigidBodyData* bodies,b3InertiaData* inertias, const b3Vector3& normalAxis,int solverBodyIdA,int solverBodyIdB,int frictionIndex,b3ContactPoint& cp,const b3Vector3& rel_pos1,const b3Vector3& rel_pos2,b3RigidBodyData* colObj0,b3RigidBodyData* colObj1, b3Scalar relaxation, b3Scalar desiredVelocity, b3Scalar cfmSlip)
|
||||
{
|
||||
b3SolverConstraint& solverConstraint = m_tmpSolverContactFrictionConstraintPool.expandNonInitializing();
|
||||
solverConstraint.m_frictionIndex = frictionIndex;
|
||||
@@ -584,9 +584,9 @@ b3SolverConstraint& b3PgsJacobiSolver::addFrictionConstraint(b3RigidBodyCL* bodi
|
||||
}
|
||||
|
||||
|
||||
void b3PgsJacobiSolver::setupRollingFrictionConstraint(b3RigidBodyCL* bodies,b3InertiaCL* inertias, b3SolverConstraint& solverConstraint, const b3Vector3& normalAxis1,int solverBodyIdA,int solverBodyIdB,
|
||||
void b3PgsJacobiSolver::setupRollingFrictionConstraint(b3RigidBodyData* bodies,b3InertiaData* inertias, b3SolverConstraint& solverConstraint, const b3Vector3& normalAxis1,int solverBodyIdA,int solverBodyIdB,
|
||||
b3ContactPoint& cp,const b3Vector3& rel_pos1,const b3Vector3& rel_pos2,
|
||||
b3RigidBodyCL* colObj0,b3RigidBodyCL* colObj1, b3Scalar relaxation,
|
||||
b3RigidBodyData* colObj0,b3RigidBodyData* colObj1, b3Scalar relaxation,
|
||||
b3Scalar desiredVelocity, b3Scalar cfmSlip)
|
||||
|
||||
{
|
||||
@@ -597,8 +597,8 @@ void b3PgsJacobiSolver::setupRollingFrictionConstraint(b3RigidBodyCL* bodies,b3I
|
||||
b3SolverBody& solverBodyA = m_tmpSolverBodyPool[solverBodyIdA];
|
||||
b3SolverBody& solverBodyB = m_tmpSolverBodyPool[solverBodyIdB];
|
||||
|
||||
b3RigidBodyCL* body0 = &bodies[m_tmpSolverBodyPool[solverBodyIdA].m_originalBodyIndex];
|
||||
b3RigidBodyCL* body1 = &bodies[m_tmpSolverBodyPool[solverBodyIdB].m_originalBodyIndex];
|
||||
b3RigidBodyData* body0 = &bodies[m_tmpSolverBodyPool[solverBodyIdA].m_originalBodyIndex];
|
||||
b3RigidBodyData* body1 = &bodies[m_tmpSolverBodyPool[solverBodyIdB].m_originalBodyIndex];
|
||||
|
||||
solverConstraint.m_solverBodyIdA = solverBodyIdA;
|
||||
solverConstraint.m_solverBodyIdB = solverBodyIdB;
|
||||
@@ -660,7 +660,7 @@ void b3PgsJacobiSolver::setupRollingFrictionConstraint(b3RigidBodyCL* bodies,b3I
|
||||
|
||||
|
||||
|
||||
b3SolverConstraint& b3PgsJacobiSolver::addRollingFrictionConstraint(b3RigidBodyCL* bodies,b3InertiaCL* inertias,const b3Vector3& normalAxis,int solverBodyIdA,int solverBodyIdB,int frictionIndex,b3ContactPoint& cp,const b3Vector3& rel_pos1,const b3Vector3& rel_pos2,b3RigidBodyCL* colObj0,b3RigidBodyCL* colObj1, b3Scalar relaxation, b3Scalar desiredVelocity, b3Scalar cfmSlip)
|
||||
b3SolverConstraint& b3PgsJacobiSolver::addRollingFrictionConstraint(b3RigidBodyData* bodies,b3InertiaData* inertias,const b3Vector3& normalAxis,int solverBodyIdA,int solverBodyIdB,int frictionIndex,b3ContactPoint& cp,const b3Vector3& rel_pos1,const b3Vector3& rel_pos2,b3RigidBodyData* colObj0,b3RigidBodyData* colObj1, b3Scalar relaxation, b3Scalar desiredVelocity, b3Scalar cfmSlip)
|
||||
{
|
||||
b3SolverConstraint& solverConstraint = m_tmpSolverContactRollingFrictionConstraintPool.expandNonInitializing();
|
||||
solverConstraint.m_frictionIndex = frictionIndex;
|
||||
@@ -670,13 +670,13 @@ b3SolverConstraint& b3PgsJacobiSolver::addRollingFrictionConstraint(b3RigidBodyC
|
||||
}
|
||||
|
||||
|
||||
int b3PgsJacobiSolver::getOrInitSolverBody(int bodyIndex, b3RigidBodyCL* bodies,b3InertiaCL* inertias)
|
||||
int b3PgsJacobiSolver::getOrInitSolverBody(int bodyIndex, b3RigidBodyData* bodies,b3InertiaData* inertias)
|
||||
{
|
||||
//b3Assert(bodyIndex< m_tmpSolverBodyPool.size());
|
||||
|
||||
b3RigidBodyCL& body = bodies[bodyIndex];
|
||||
b3RigidBodyData& body = bodies[bodyIndex];
|
||||
int curIndex = -1;
|
||||
if (m_usePgs || body.getInvMass()==0.f)
|
||||
if (m_usePgs || body.m_invMass==0.f)
|
||||
{
|
||||
if (m_bodyCount[bodyIndex]<0)
|
||||
{
|
||||
@@ -706,7 +706,7 @@ int b3PgsJacobiSolver::getOrInitSolverBody(int bodyIndex, b3RigidBodyCL* bodies,
|
||||
#include <stdio.h>
|
||||
|
||||
|
||||
void b3PgsJacobiSolver::setupContactConstraint(b3RigidBodyCL* bodies, b3InertiaCL* inertias,b3SolverConstraint& solverConstraint,
|
||||
void b3PgsJacobiSolver::setupContactConstraint(b3RigidBodyData* bodies, b3InertiaData* inertias,b3SolverConstraint& solverConstraint,
|
||||
int solverBodyIdA, int solverBodyIdB,
|
||||
b3ContactPoint& cp, const b3ContactSolverInfo& infoGlobal,
|
||||
b3Vector3& vel, b3Scalar& rel_vel, b3Scalar& relaxation,
|
||||
@@ -719,8 +719,8 @@ void b3PgsJacobiSolver::setupContactConstraint(b3RigidBodyCL* bodies, b3InertiaC
|
||||
b3SolverBody* bodyA = &m_tmpSolverBodyPool[solverBodyIdA];
|
||||
b3SolverBody* bodyB = &m_tmpSolverBodyPool[solverBodyIdB];
|
||||
|
||||
b3RigidBodyCL* rb0 = &bodies[bodyA->m_originalBodyIndex];
|
||||
b3RigidBodyCL* rb1 = &bodies[bodyB->m_originalBodyIndex];
|
||||
b3RigidBodyData* rb0 = &bodies[bodyA->m_originalBodyIndex];
|
||||
b3RigidBodyData* rb1 = &bodies[bodyB->m_originalBodyIndex];
|
||||
|
||||
// b3Vector3 rel_pos1 = pos1 - colObj0->getWorldTransform().getOrigin();
|
||||
// b3Vector3 rel_pos2 = pos2 - colObj1->getWorldTransform().getOrigin();
|
||||
@@ -746,12 +746,12 @@ void b3PgsJacobiSolver::setupContactConstraint(b3RigidBodyCL* bodies, b3InertiaC
|
||||
if (rb0)
|
||||
{
|
||||
vec = ( solverConstraint.m_angularComponentA).cross(rel_pos1);
|
||||
denom0 = rb0->getInvMass() + cp.m_normalWorldOnB.dot(vec);
|
||||
denom0 = rb0->m_invMass + cp.m_normalWorldOnB.dot(vec);
|
||||
}
|
||||
if (rb1)
|
||||
{
|
||||
vec = ( -solverConstraint.m_angularComponentB).cross(rel_pos2);
|
||||
denom1 = rb1->getInvMass() + cp.m_normalWorldOnB.dot(vec);
|
||||
denom1 = rb1->m_invMass + cp.m_normalWorldOnB.dot(vec);
|
||||
}
|
||||
#endif //COMPUTE_IMPULSE_DENOM
|
||||
|
||||
@@ -870,7 +870,7 @@ void b3PgsJacobiSolver::setupContactConstraint(b3RigidBodyCL* bodies, b3InertiaC
|
||||
|
||||
|
||||
|
||||
void b3PgsJacobiSolver::setFrictionConstraintImpulse( b3RigidBodyCL* bodies, b3InertiaCL* inertias,b3SolverConstraint& solverConstraint,
|
||||
void b3PgsJacobiSolver::setFrictionConstraintImpulse( b3RigidBodyData* bodies, b3InertiaData* inertias,b3SolverConstraint& solverConstraint,
|
||||
int solverBodyIdA, int solverBodyIdB,
|
||||
b3ContactPoint& cp, const b3ContactSolverInfo& infoGlobal)
|
||||
{
|
||||
@@ -914,9 +914,9 @@ void b3PgsJacobiSolver::setFrictionConstraintImpulse( b3RigidBodyCL* bodies, b3I
|
||||
|
||||
|
||||
|
||||
void b3PgsJacobiSolver::convertContact(b3RigidBodyCL* bodies, b3InertiaCL* inertias,b3Contact4* manifold,const b3ContactSolverInfo& infoGlobal)
|
||||
void b3PgsJacobiSolver::convertContact(b3RigidBodyData* bodies, b3InertiaData* inertias,b3Contact4* manifold,const b3ContactSolverInfo& infoGlobal)
|
||||
{
|
||||
b3RigidBodyCL* colObj0=0,*colObj1=0;
|
||||
b3RigidBodyData* colObj0=0,*colObj1=0;
|
||||
|
||||
|
||||
int solverBodyIdA = getOrInitSolverBody(manifold->getBodyA(),bodies,inertias);
|
||||
@@ -1062,7 +1062,7 @@ void b3PgsJacobiSolver::convertContact(b3RigidBodyCL* bodies, b3InertiaCL* inert
|
||||
}
|
||||
}
|
||||
|
||||
b3Scalar b3PgsJacobiSolver::solveGroupCacheFriendlySetup(b3RigidBodyCL* bodies, b3InertiaCL* inertias, int numBodies, b3Contact4* manifoldPtr, int numManifolds,b3TypedConstraint** constraints,int numConstraints,const b3ContactSolverInfo& infoGlobal)
|
||||
b3Scalar b3PgsJacobiSolver::solveGroupCacheFriendlySetup(b3RigidBodyData* bodies, b3InertiaData* inertias, int numBodies, b3Contact4* manifoldPtr, int numManifolds,b3TypedConstraint** constraints,int numConstraints,const b3ContactSolverInfo& infoGlobal)
|
||||
{
|
||||
B3_PROFILE("solveGroupCacheFriendlySetup");
|
||||
|
||||
@@ -1111,7 +1111,7 @@ b3Scalar b3PgsJacobiSolver::solveGroupCacheFriendlySetup(b3RigidBodyCL* bodies,
|
||||
m_bodyCount[bodyIndexB]=-1;
|
||||
} else
|
||||
{
|
||||
if (bodies[bodyIndexA].getInvMass())
|
||||
if (bodies[bodyIndexA].m_invMass)
|
||||
{
|
||||
//m_bodyCount[bodyIndexA]+=manifoldPtr[i].getNPoints();
|
||||
m_bodyCount[bodyIndexA]++;
|
||||
@@ -1119,7 +1119,7 @@ b3Scalar b3PgsJacobiSolver::solveGroupCacheFriendlySetup(b3RigidBodyCL* bodies,
|
||||
else
|
||||
m_bodyCount[bodyIndexA]=-1;
|
||||
|
||||
if (bodies[bodyIndexB].getInvMass())
|
||||
if (bodies[bodyIndexB].m_invMass)
|
||||
// m_bodyCount[bodyIndexB]+=manifoldPtr[i].getNPoints();
|
||||
m_bodyCount[bodyIndexB]++;
|
||||
else
|
||||
@@ -1194,10 +1194,10 @@ b3Scalar b3PgsJacobiSolver::solveGroupCacheFriendlySetup(b3RigidBodyCL* bodies,
|
||||
b3SolverConstraint* currentConstraintRow = &m_tmpSolverNonContactConstraintPool[currentRow];
|
||||
b3TypedConstraint* constraint = constraints[i];
|
||||
|
||||
b3RigidBodyCL& rbA = bodies[ constraint->getRigidBodyA()];
|
||||
b3RigidBodyData& rbA = bodies[ constraint->getRigidBodyA()];
|
||||
//b3RigidBody& rbA = constraint->getRigidBodyA();
|
||||
// b3RigidBody& rbB = constraint->getRigidBodyB();
|
||||
b3RigidBodyCL& rbB = bodies[ constraint->getRigidBodyB()];
|
||||
b3RigidBodyData& rbB = bodies[ constraint->getRigidBodyB()];
|
||||
|
||||
int solverBodyIdA = getOrInitSolverBody(constraint->getRigidBodyA(),bodies,inertias);
|
||||
int solverBodyIdB = getOrInitSolverBody(constraint->getRigidBodyB(),bodies,inertias);
|
||||
@@ -1290,9 +1290,9 @@ b3Scalar b3PgsJacobiSolver::solveGroupCacheFriendlySetup(b3RigidBodyCL* bodies,
|
||||
{
|
||||
//it is ok to use solverConstraint.m_contactNormal instead of -solverConstraint.m_contactNormal
|
||||
//because it gets multiplied iMJlB
|
||||
b3Vector3 iMJlA = solverConstraint.m_contactNormal*rbA.getInvMass();
|
||||
b3Vector3 iMJlA = solverConstraint.m_contactNormal*rbA.m_invMass;
|
||||
b3Vector3 iMJaA = invInertiaWorldA*solverConstraint.m_relpos1CrossNormal;
|
||||
b3Vector3 iMJlB = solverConstraint.m_contactNormal*rbB.getInvMass();//sign of normal?
|
||||
b3Vector3 iMJlB = solverConstraint.m_contactNormal*rbB.m_invMass;//sign of normal?
|
||||
b3Vector3 iMJaB = invInertiaWorldB*solverConstraint.m_relpos2CrossNormal;
|
||||
|
||||
b3Scalar sum = iMJlA.dot(solverConstraint.m_contactNormal);
|
||||
@@ -1701,7 +1701,7 @@ void b3PgsJacobiSolver::averageVelocities()
|
||||
}
|
||||
}
|
||||
|
||||
b3Scalar b3PgsJacobiSolver::solveGroupCacheFriendlyFinish(b3RigidBodyCL* bodies,b3InertiaCL* inertias,int numBodies,const b3ContactSolverInfo& infoGlobal)
|
||||
b3Scalar b3PgsJacobiSolver::solveGroupCacheFriendlyFinish(b3RigidBodyData* bodies,b3InertiaData* inertias,int numBodies,const b3ContactSolverInfo& infoGlobal)
|
||||
{
|
||||
B3_PROFILE("solveGroupCacheFriendlyFinish");
|
||||
int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
|
||||
@@ -1759,8 +1759,8 @@ b3Scalar b3PgsJacobiSolver::solveGroupCacheFriendlyFinish(b3RigidBodyCL* bodies,
|
||||
int bodyIndex = m_tmpSolverBodyPool[i].m_originalBodyIndex;
|
||||
//b3Assert(i==bodyIndex);
|
||||
|
||||
b3RigidBodyCL* body = &bodies[bodyIndex];
|
||||
if (body->getInvMass())
|
||||
b3RigidBodyData* body = &bodies[bodyIndex];
|
||||
if (body->m_invMass)
|
||||
{
|
||||
if (infoGlobal.m_splitImpulse)
|
||||
m_tmpSolverBodyPool[i].writebackVelocityAndTransform(infoGlobal.m_timeStep, infoGlobal.m_splitImpulseTurnErp);
|
||||
|
||||
@@ -13,8 +13,8 @@ class b3Dispatcher;
|
||||
#include "b3SolverBody.h"
|
||||
#include "b3SolverConstraint.h"
|
||||
|
||||
struct b3RigidBodyCL;
|
||||
struct b3InertiaCL;
|
||||
struct b3RigidBodyData;
|
||||
struct b3InertiaData;
|
||||
|
||||
class b3PgsJacobiSolver
|
||||
{
|
||||
@@ -48,26 +48,26 @@ protected:
|
||||
{
|
||||
return 0.02f;
|
||||
}
|
||||
void setupFrictionConstraint( b3RigidBodyCL* bodies,b3InertiaCL* inertias, b3SolverConstraint& solverConstraint, const b3Vector3& normalAxis,int solverBodyIdA,int solverBodyIdB,
|
||||
void setupFrictionConstraint( b3RigidBodyData* bodies,b3InertiaData* inertias, b3SolverConstraint& solverConstraint, const b3Vector3& normalAxis,int solverBodyIdA,int solverBodyIdB,
|
||||
b3ContactPoint& cp,const b3Vector3& rel_pos1,const b3Vector3& rel_pos2,
|
||||
b3RigidBodyCL* colObj0,b3RigidBodyCL* colObj1, b3Scalar relaxation,
|
||||
b3RigidBodyData* colObj0,b3RigidBodyData* colObj1, b3Scalar relaxation,
|
||||
b3Scalar desiredVelocity=0., b3Scalar cfmSlip=0.);
|
||||
|
||||
void setupRollingFrictionConstraint(b3RigidBodyCL* bodies,b3InertiaCL* inertias, b3SolverConstraint& solverConstraint, const b3Vector3& normalAxis,int solverBodyIdA,int solverBodyIdB,
|
||||
void setupRollingFrictionConstraint(b3RigidBodyData* bodies,b3InertiaData* inertias, b3SolverConstraint& solverConstraint, const b3Vector3& normalAxis,int solverBodyIdA,int solverBodyIdB,
|
||||
b3ContactPoint& cp,const b3Vector3& rel_pos1,const b3Vector3& rel_pos2,
|
||||
b3RigidBodyCL* colObj0,b3RigidBodyCL* colObj1, b3Scalar relaxation,
|
||||
b3RigidBodyData* colObj0,b3RigidBodyData* colObj1, b3Scalar relaxation,
|
||||
b3Scalar desiredVelocity=0., b3Scalar cfmSlip=0.);
|
||||
|
||||
b3SolverConstraint& addFrictionConstraint(b3RigidBodyCL* bodies,b3InertiaCL* inertias,const b3Vector3& normalAxis,int solverBodyIdA,int solverBodyIdB,int frictionIndex,b3ContactPoint& cp,const b3Vector3& rel_pos1,const b3Vector3& rel_pos2,b3RigidBodyCL* colObj0,b3RigidBodyCL* colObj1, b3Scalar relaxation, b3Scalar desiredVelocity=0., b3Scalar cfmSlip=0.);
|
||||
b3SolverConstraint& addRollingFrictionConstraint(b3RigidBodyCL* bodies,b3InertiaCL* inertias,const b3Vector3& normalAxis,int solverBodyIdA,int solverBodyIdB,int frictionIndex,b3ContactPoint& cp,const b3Vector3& rel_pos1,const b3Vector3& rel_pos2,b3RigidBodyCL* colObj0,b3RigidBodyCL* colObj1, b3Scalar relaxation, b3Scalar desiredVelocity=0, b3Scalar cfmSlip=0.f);
|
||||
b3SolverConstraint& addFrictionConstraint(b3RigidBodyData* bodies,b3InertiaData* inertias,const b3Vector3& normalAxis,int solverBodyIdA,int solverBodyIdB,int frictionIndex,b3ContactPoint& cp,const b3Vector3& rel_pos1,const b3Vector3& rel_pos2,b3RigidBodyData* colObj0,b3RigidBodyData* colObj1, b3Scalar relaxation, b3Scalar desiredVelocity=0., b3Scalar cfmSlip=0.);
|
||||
b3SolverConstraint& addRollingFrictionConstraint(b3RigidBodyData* bodies,b3InertiaData* inertias,const b3Vector3& normalAxis,int solverBodyIdA,int solverBodyIdB,int frictionIndex,b3ContactPoint& cp,const b3Vector3& rel_pos1,const b3Vector3& rel_pos2,b3RigidBodyData* colObj0,b3RigidBodyData* colObj1, b3Scalar relaxation, b3Scalar desiredVelocity=0, b3Scalar cfmSlip=0.f);
|
||||
|
||||
|
||||
void setupContactConstraint(b3RigidBodyCL* bodies, b3InertiaCL* inertias,
|
||||
void setupContactConstraint(b3RigidBodyData* bodies, b3InertiaData* inertias,
|
||||
b3SolverConstraint& solverConstraint, int solverBodyIdA, int solverBodyIdB, b3ContactPoint& cp,
|
||||
const b3ContactSolverInfo& infoGlobal, b3Vector3& vel, b3Scalar& rel_vel, b3Scalar& relaxation,
|
||||
b3Vector3& rel_pos1, b3Vector3& rel_pos2);
|
||||
|
||||
void setFrictionConstraintImpulse( b3RigidBodyCL* bodies, b3InertiaCL* inertias,b3SolverConstraint& solverConstraint, int solverBodyIdA,int solverBodyIdB,
|
||||
void setFrictionConstraintImpulse( b3RigidBodyData* bodies, b3InertiaData* inertias,b3SolverConstraint& solverConstraint, int solverBodyIdA,int solverBodyIdB,
|
||||
b3ContactPoint& cp, const b3ContactSolverInfo& infoGlobal);
|
||||
|
||||
///m_btSeed2 is used for re-arranging the constraint rows. improves convergence/quality of friction
|
||||
@@ -76,7 +76,7 @@ protected:
|
||||
|
||||
b3Scalar restitutionCurve(b3Scalar rel_vel, b3Scalar restitution);
|
||||
|
||||
void convertContact(b3RigidBodyCL* bodies, b3InertiaCL* inertias,b3Contact4* manifold,const b3ContactSolverInfo& infoGlobal);
|
||||
void convertContact(b3RigidBodyData* bodies, b3InertiaData* inertias,b3Contact4* manifold,const b3ContactSolverInfo& infoGlobal);
|
||||
|
||||
|
||||
void resolveSplitPenetrationSIMD(
|
||||
@@ -88,8 +88,8 @@ protected:
|
||||
const b3SolverConstraint& contactConstraint);
|
||||
|
||||
//internal method
|
||||
int getOrInitSolverBody(int bodyIndex, b3RigidBodyCL* bodies,b3InertiaCL* inertias);
|
||||
void initSolverBody(int bodyIndex, b3SolverBody* solverBody, b3RigidBodyCL* collisionObject);
|
||||
int getOrInitSolverBody(int bodyIndex, b3RigidBodyData* bodies,b3InertiaData* inertias);
|
||||
void initSolverBody(int bodyIndex, b3SolverBody* solverBody, b3RigidBodyData* collisionObject);
|
||||
|
||||
void resolveSingleConstraintRowGeneric(b3SolverBody& bodyA,b3SolverBody& bodyB,const b3SolverConstraint& contactConstraint);
|
||||
|
||||
@@ -101,7 +101,7 @@ protected:
|
||||
|
||||
protected:
|
||||
|
||||
virtual b3Scalar solveGroupCacheFriendlySetup(b3RigidBodyCL* bodies, b3InertiaCL* inertias,int numBodies,b3Contact4* manifoldPtr, int numManifolds,b3TypedConstraint** constraints,int numConstraints,const b3ContactSolverInfo& infoGlobal);
|
||||
virtual b3Scalar solveGroupCacheFriendlySetup(b3RigidBodyData* bodies, b3InertiaData* inertias,int numBodies,b3Contact4* manifoldPtr, int numManifolds,b3TypedConstraint** constraints,int numConstraints,const b3ContactSolverInfo& infoGlobal);
|
||||
|
||||
|
||||
virtual b3Scalar solveGroupCacheFriendlyIterations(b3TypedConstraint** constraints,int numConstraints,const b3ContactSolverInfo& infoGlobal);
|
||||
@@ -109,7 +109,7 @@ protected:
|
||||
b3Scalar solveSingleIteration(int iteration, b3TypedConstraint** constraints,int numConstraints,const b3ContactSolverInfo& infoGlobal);
|
||||
|
||||
|
||||
virtual b3Scalar solveGroupCacheFriendlyFinish(b3RigidBodyCL* bodies, b3InertiaCL* inertias,int numBodies,const b3ContactSolverInfo& infoGlobal);
|
||||
virtual b3Scalar solveGroupCacheFriendlyFinish(b3RigidBodyData* bodies, b3InertiaData* inertias,int numBodies,const b3ContactSolverInfo& infoGlobal);
|
||||
|
||||
|
||||
public:
|
||||
@@ -119,10 +119,10 @@ public:
|
||||
b3PgsJacobiSolver(bool usePgs);
|
||||
virtual ~b3PgsJacobiSolver();
|
||||
|
||||
// void solveContacts(int numBodies, b3RigidBodyCL* bodies, b3InertiaCL* inertias, int numContacts, b3Contact4* contacts);
|
||||
void solveContacts(int numBodies, b3RigidBodyCL* bodies, b3InertiaCL* inertias, int numContacts, b3Contact4* contacts, int numConstraints, b3TypedConstraint** constraints);
|
||||
// void solveContacts(int numBodies, b3RigidBodyData* bodies, b3InertiaData* inertias, int numContacts, b3Contact4* contacts);
|
||||
void solveContacts(int numBodies, b3RigidBodyData* bodies, b3InertiaData* inertias, int numContacts, b3Contact4* contacts, int numConstraints, b3TypedConstraint** constraints);
|
||||
|
||||
b3Scalar solveGroup(b3RigidBodyCL* bodies,b3InertiaCL* inertias,int numBodies,b3Contact4* manifoldPtr, int numManifolds,b3TypedConstraint** constraints,int numConstraints,const b3ContactSolverInfo& infoGlobal);
|
||||
b3Scalar solveGroup(b3RigidBodyData* bodies,b3InertiaData* inertias,int numBodies,b3Contact4* manifoldPtr, int numManifolds,b3TypedConstraint** constraints,int numConstraints,const b3ContactSolverInfo& infoGlobal);
|
||||
|
||||
///clear internal cached data and reset random seed
|
||||
virtual void reset();
|
||||
|
||||
@@ -15,7 +15,7 @@ subject to the following restrictions:
|
||||
|
||||
|
||||
#include "b3Point2PointConstraint.h"
|
||||
#include "Bullet3Collision/NarrowPhaseCollision/b3RigidBodyCL.h"
|
||||
#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
|
||||
|
||||
#include <new>
|
||||
|
||||
@@ -41,12 +41,12 @@ m_useSolveConstraintObsolete(false)
|
||||
*/
|
||||
|
||||
|
||||
void b3Point2PointConstraint::getInfo1 (b3ConstraintInfo1* info,const b3RigidBodyCL* bodies)
|
||||
void b3Point2PointConstraint::getInfo1 (b3ConstraintInfo1* info,const b3RigidBodyData* bodies)
|
||||
{
|
||||
getInfo1NonVirtual(info,bodies);
|
||||
}
|
||||
|
||||
void b3Point2PointConstraint::getInfo1NonVirtual (b3ConstraintInfo1* info,const b3RigidBodyCL* bodies)
|
||||
void b3Point2PointConstraint::getInfo1NonVirtual (b3ConstraintInfo1* info,const b3RigidBodyData* bodies)
|
||||
{
|
||||
info->m_numConstraintRows = 3;
|
||||
info->nub = 3;
|
||||
@@ -55,7 +55,7 @@ void b3Point2PointConstraint::getInfo1NonVirtual (b3ConstraintInfo1* info,const
|
||||
|
||||
|
||||
|
||||
void b3Point2PointConstraint::getInfo2 (b3ConstraintInfo2* info, const b3RigidBodyCL* bodies)
|
||||
void b3Point2PointConstraint::getInfo2 (b3ConstraintInfo2* info, const b3RigidBodyData* bodies)
|
||||
{
|
||||
b3Transform trA;
|
||||
trA.setIdentity();
|
||||
|
||||
@@ -76,11 +76,11 @@ public:
|
||||
|
||||
|
||||
|
||||
virtual void getInfo1 (b3ConstraintInfo1* info,const b3RigidBodyCL* bodies);
|
||||
virtual void getInfo1 (b3ConstraintInfo1* info,const b3RigidBodyData* bodies);
|
||||
|
||||
void getInfo1NonVirtual (b3ConstraintInfo1* info,const b3RigidBodyCL* bodies);
|
||||
void getInfo1NonVirtual (b3ConstraintInfo1* info,const b3RigidBodyData* bodies);
|
||||
|
||||
virtual void getInfo2 (b3ConstraintInfo2* info, const b3RigidBodyCL* bodies);
|
||||
virtual void getInfo2 (b3ConstraintInfo2* info, const b3RigidBodyData* bodies);
|
||||
|
||||
void getInfo2NonVirtual (b3ConstraintInfo2* info, const b3Transform& body0_trans, const b3Transform& body1_trans);
|
||||
|
||||
|
||||
@@ -62,7 +62,7 @@ B3_ATTRIBUTE_ALIGNED16(struct) b3JointFeedback
|
||||
};
|
||||
|
||||
|
||||
struct b3RigidBodyCL;
|
||||
struct b3RigidBodyData;
|
||||
|
||||
|
||||
///TypedConstraint is the baseclass for Bullet constraints and vehicles
|
||||
@@ -170,10 +170,10 @@ public:
|
||||
}
|
||||
|
||||
///internal method used by the constraint solver, don't use them directly
|
||||
virtual void getInfo1 (b3ConstraintInfo1* info,const b3RigidBodyCL* bodies)=0;
|
||||
virtual void getInfo1 (b3ConstraintInfo1* info,const b3RigidBodyData* bodies)=0;
|
||||
|
||||
///internal method used by the constraint solver, don't use them directly
|
||||
virtual void getInfo2 (b3ConstraintInfo2* info, const b3RigidBodyCL* bodies)=0;
|
||||
virtual void getInfo2 (b3ConstraintInfo2* info, const b3RigidBodyData* bodies)=0;
|
||||
|
||||
///internal method used by the constraint solver, don't use them directly
|
||||
void internalSetAppliedImpulse(b3Scalar appliedImpulse)
|
||||
|
||||
Reference in New Issue
Block a user