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Refactoring: another huge number of changes, renamed methods to start with lower-case.

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This commit is contained in:
ejcoumans
2006-09-28 01:11:16 +00:00
parent d0f09040e9
commit 2b1657b1dd
185 changed files with 2103 additions and 2095 deletions
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32
Extras/quickstep/OdeConstraintSolver.cpp
View File

@@ -69,7 +69,7 @@ m_erp(0.4f)
//iterative lcp and penalty method
float OdeConstraintSolver::SolveGroup(btPersistentManifold** manifoldPtr, int numManifolds,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer)
float OdeConstraintSolver::solveGroup(btPersistentManifold** manifoldPtr, int numManifolds,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer)
{
m_CurBody = 0;
m_CurJoint = 0;
@@ -87,10 +87,10 @@ float OdeConstraintSolver::SolveGroup(btPersistentManifold** manifoldPtr, int nu
int body0=-1,body1=-1;
btPersistentManifold* manifold = manifoldPtr[j];
if (manifold->GetNumContacts() > 0)
if (manifold->getNumContacts() > 0)
{
body0 = ConvertBody((btRigidBody*)manifold->GetBody0(),bodies,numBodies);
body1 = ConvertBody((btRigidBody*)manifold->GetBody1(),bodies,numBodies);
body0 = ConvertBody((btRigidBody*)manifold->getBody0(),bodies,numBodies);
body1 = ConvertBody((btRigidBody*)manifold->getBody1(),bodies,numBodies);
ConvertConstraint(manifold,joints,numJoints,bodies,body0,body1,debugDrawer);
}
}
@@ -199,12 +199,12 @@ void OdeConstraintSolver::ConvertConstraint(btPersistentManifold* manifold,BU_Jo
{
manifold->RefreshContactPoints(((btRigidBody*)manifold->GetBody0())->getCenterOfMassTransform(),
((btRigidBody*)manifold->GetBody1())->getCenterOfMassTransform());
manifold->refreshContactPoints(((btRigidBody*)manifold->getBody0())->getCenterOfMassTransform(),
((btRigidBody*)manifold->getBody1())->getCenterOfMassTransform());
int bodyId0 = _bodyId0,bodyId1 = _bodyId1;
int i,numContacts = manifold->GetNumContacts();
int i,numContacts = manifold->getNumContacts();
bool swapBodies = (bodyId0 < 0);
@@ -216,13 +216,13 @@ void OdeConstraintSolver::ConvertConstraint(btPersistentManifold* manifold,BU_Jo
bodyId0 = _bodyId1;
bodyId1 = _bodyId0;
body0 = (btRigidBody*)manifold->GetBody1();
body1 = (btRigidBody*)manifold->GetBody0();
body0 = (btRigidBody*)manifold->getBody1();
body1 = (btRigidBody*)manifold->getBody0();
} else
{
body0 = (btRigidBody*)manifold->GetBody0();
body1 = (btRigidBody*)manifold->GetBody1();
body0 = (btRigidBody*)manifold->getBody0();
body1 = (btRigidBody*)manifold->getBody1();
}
assert(bodyId0 >= 0);
@@ -233,19 +233,19 @@ void OdeConstraintSolver::ConvertConstraint(btPersistentManifold* manifold,BU_Jo
if (debugDrawer)
{
const btManifoldPoint& cp = manifold->GetContactPoint(i);
const btManifoldPoint& cp = manifold->getContactPoint(i);
debugDrawer->DrawContactPoint(
debugDrawer->drawContactPoint(
cp.m_positionWorldOnB,
cp.m_normalWorldOnB,
cp.GetDistance(),
cp.GetLifeTime(),
cp.getDistance(),
cp.getLifeTime(),
color);
}
assert (m_CurJoint < MAX_JOINTS_1);
// if (manifold->GetContactPoint(i).GetDistance() < 0.0f)
// if (manifold->getContactPoint(i).getDistance() < 0.0f)
{
ContactJoint* cont = new (&gJointArray[m_CurJoint++]) ContactJoint( manifold ,i, swapBodies,body0,body1);

2
Extras/quickstep/OdeConstraintSolver.h
View File

@@ -44,7 +44,7 @@ public:
virtual ~OdeConstraintSolver() {}
virtual float SolveGroup(btPersistentManifold** manifold,int numManifolds,const btContactSolverInfo& info,btIDebugDraw* debugDrawer = 0);
virtual float solveGroup(btPersistentManifold** manifold,int numManifolds,const btContactSolverInfo& info,btIDebugDraw* debugDrawer = 0);
///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'