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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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2
src/BulletDynamics/ConstraintSolver/btConstraintSolver.h
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@@ -31,7 +31,7 @@ public:
virtual ~btConstraintSolver() {}
virtual float SolveGroup(btPersistentManifold** manifold,int numManifolds,const btContactSolverInfo& info,class btIDebugDraw* debugDrawer = 0) = 0;
virtual float solveGroup(btPersistentManifold** manifold,int numManifolds,const btContactSolverInfo& info,class btIDebugDraw* debugDrawer = 0) = 0;
};

10
src/BulletDynamics/ConstraintSolver/btContactConstraint.cpp
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@@ -100,8 +100,8 @@ float resolveSingleCollision(
)
{
const btVector3& pos1 = contactPoint.GetPositionWorldOnA();
const btVector3& pos2 = contactPoint.GetPositionWorldOnB();
const btVector3& pos1 = contactPoint.getPositionWorldOnA();
const btVector3& pos2 = contactPoint.getPositionWorldOnB();
// printf("distance=%f\n",distance);
@@ -136,7 +136,7 @@ float resolveSingleCollision(
btConstraintPersistentData* cpd = (btConstraintPersistentData*) contactPoint.m_userPersistentData;
assert(cpd);
btScalar distance = cpd->m_penetration;//contactPoint.GetDistance();
btScalar distance = cpd->m_penetration;//contactPoint.getDistance();
//distance = 0.f;
@@ -174,8 +174,8 @@ float resolveSingleFriction(
)
{
const btVector3& pos1 = contactPoint.GetPositionWorldOnA();
const btVector3& pos2 = contactPoint.GetPositionWorldOnB();
const btVector3& pos1 = contactPoint.getPositionWorldOnA();
const btVector3& pos2 = contactPoint.getPositionWorldOnB();
btVector3 rel_pos1 = pos1 - body1.getCenterOfMassPosition();
btVector3 rel_pos2 = pos2 - body2.getCenterOfMassPosition();

8
src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
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@@ -46,7 +46,7 @@ btGeneric6DofConstraint::btGeneric6DofConstraint(btRigidBody& rbA, btRigidBody&
}
void btGeneric6DofConstraint::BuildJacobian()
void btGeneric6DofConstraint::buildJacobian()
{
btVector3 normal(0,0,0);
@@ -116,7 +116,7 @@ void btGeneric6DofConstraint::BuildJacobian()
}
}
void btGeneric6DofConstraint::SolveConstraint(btScalar timeStep)
void btGeneric6DofConstraint::solveConstraint(btScalar timeStep)
{
btScalar tau = 0.1f;
btScalar damping = 1.0f;
@@ -194,12 +194,12 @@ void btGeneric6DofConstraint::SolveConstraint(btScalar timeStep)
}
}
void btGeneric6DofConstraint::UpdateRHS(btScalar timeStep)
void btGeneric6DofConstraint::updateRHS(btScalar timeStep)
{
}
btScalar btGeneric6DofConstraint::ComputeAngle(int axis) const
btScalar btGeneric6DofConstraint::computeAngle(int axis) const
{
btScalar angle;

12
src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h
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@@ -47,13 +47,13 @@ public:
btGeneric6DofConstraint();
virtual void BuildJacobian();
virtual void buildJacobian();
virtual void SolveConstraint(btScalar timeStep);
virtual void solveConstraint(btScalar timeStep);
void UpdateRHS(btScalar timeStep);
void updateRHS(btScalar timeStep);
btScalar ComputeAngle(int axis) const;
btScalar computeAngle(int axis) const;
void setLinearLowerLimit(const btVector3& linearLower)
{
@@ -99,11 +99,11 @@ public:
return (m_upperLimit[limitIndex] >= m_lowerLimit[limitIndex]);
}
const btRigidBody& GetRigidBodyA() const
const btRigidBody& getRigidBodyA() const
{
return m_rbA;
}
const btRigidBody& GetRigidBodyB() const
const btRigidBody& getRigidBodyB() const
{
return m_rbB;
}

28
src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp
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@@ -45,7 +45,7 @@ m_angularOnly(false)
}
void btHingeConstraint::BuildJacobian()
void btHingeConstraint::buildJacobian()
{
m_appliedImpulse = 0.f;
@@ -74,7 +74,7 @@ void btHingeConstraint::BuildJacobian()
//these two jointAxis require equal angular velocities for both bodies
//this is unused for now, it's a todo
btVector3 axisWorldA = GetRigidBodyA().getCenterOfMassTransform().getBasis() * m_axisInA;
btVector3 axisWorldA = getRigidBodyA().getCenterOfMassTransform().getBasis() * m_axisInA;
btVector3 jointAxis0;
btVector3 jointAxis1;
btPlaneSpace1(axisWorldA,jointAxis0,jointAxis1);
@@ -94,7 +94,7 @@ void btHingeConstraint::BuildJacobian()
}
void btHingeConstraint::SolveConstraint(btScalar timeStep)
void btHingeConstraint::solveConstraint(btScalar timeStep)
{
//#define NEW_IMPLEMENTATION
@@ -150,8 +150,8 @@ void btHingeConstraint::SolveConstraint(btScalar timeStep)
///solve angular part
// get axes in world space
btVector3 axisA = GetRigidBodyA().getCenterOfMassTransform().getBasis() * m_axisInA;
btVector3 axisB = GetRigidBodyB().getCenterOfMassTransform().getBasis() * m_axisInB;
btVector3 axisA = getRigidBodyA().getCenterOfMassTransform().getBasis() * m_axisInA;
btVector3 axisB = getRigidBodyB().getCenterOfMassTransform().getBasis() * m_axisInB;
// constraint axes in world space
btVector3 jointAxis0;
@@ -230,11 +230,11 @@ void btHingeConstraint::SolveConstraint(btScalar timeStep)
///solve angular part
// get axes in world space
btVector3 axisA = GetRigidBodyA().getCenterOfMassTransform().getBasis() * m_axisInA;
btVector3 axisB = GetRigidBodyB().getCenterOfMassTransform().getBasis() * m_axisInB;
btVector3 axisA = getRigidBodyA().getCenterOfMassTransform().getBasis() * m_axisInA;
btVector3 axisB = getRigidBodyB().getCenterOfMassTransform().getBasis() * m_axisInB;
const btVector3& angVelA = GetRigidBodyA().getAngularVelocity();
const btVector3& angVelB = GetRigidBodyB().getAngularVelocity();
const btVector3& angVelA = getRigidBodyA().getAngularVelocity();
const btVector3& angVelB = getRigidBodyB().getAngularVelocity();
btVector3 angA = angVelA - axisA * axisA.dot(angVelA);
btVector3 angB = angVelB - axisB * axisB.dot(angVelB);
btVector3 velrel = angA-angB;
@@ -245,8 +245,8 @@ void btHingeConstraint::SolveConstraint(btScalar timeStep)
if (len > 0.00001f)
{
btVector3 normal = velrel.normalized();
float denom = GetRigidBodyA().ComputeAngularImpulseDenominator(normal) +
GetRigidBodyB().ComputeAngularImpulseDenominator(normal);
float denom = getRigidBodyA().computeAngularImpulseDenominator(normal) +
getRigidBodyB().computeAngularImpulseDenominator(normal);
// scale for mass and relaxation
velrel *= (1.f/denom) * 0.9;
}
@@ -257,8 +257,8 @@ void btHingeConstraint::SolveConstraint(btScalar timeStep)
if (len2>0.00001f)
{
btVector3 normal2 = angularError.normalized();
float denom2 = GetRigidBodyA().ComputeAngularImpulseDenominator(normal2) +
GetRigidBodyB().ComputeAngularImpulseDenominator(normal2);
float denom2 = getRigidBodyA().computeAngularImpulseDenominator(normal2) +
getRigidBodyB().computeAngularImpulseDenominator(normal2);
angularError *= (1.f/denom2) * relaxation;
}
@@ -269,7 +269,7 @@ void btHingeConstraint::SolveConstraint(btScalar timeStep)
}
void btHingeConstraint::UpdateRHS(btScalar timeStep)
void btHingeConstraint::updateRHS(btScalar timeStep)
{
}

10
src/BulletDynamics/ConstraintSolver/btHingeConstraint.h
View File

@@ -46,17 +46,17 @@ public:
btHingeConstraint();
virtual void BuildJacobian();
virtual void buildJacobian();
virtual void SolveConstraint(btScalar timeStep);
virtual void solveConstraint(btScalar timeStep);
void UpdateRHS(btScalar timeStep);
void updateRHS(btScalar timeStep);
const btRigidBody& GetRigidBodyA() const
const btRigidBody& getRigidBodyA() const
{
return m_rbA;
}
const btRigidBody& GetRigidBodyB() const
const btRigidBody& getRigidBodyB() const
{
return m_rbB;
}

6
src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp
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@@ -38,7 +38,7 @@ btPoint2PointConstraint::btPoint2PointConstraint(btRigidBody& rbA,const btVector
}
void btPoint2PointConstraint::BuildJacobian()
void btPoint2PointConstraint::buildJacobian()
{
m_appliedImpulse = 0.f;
@@ -62,7 +62,7 @@ void btPoint2PointConstraint::BuildJacobian()
}
void btPoint2PointConstraint::SolveConstraint(btScalar timeStep)
void btPoint2PointConstraint::solveConstraint(btScalar timeStep)
{
btVector3 pivotAInW = m_rbA.getCenterOfMassTransform()*m_pivotInA;
btVector3 pivotBInW = m_rbB.getCenterOfMassTransform()*m_pivotInB;
@@ -109,7 +109,7 @@ void btPoint2PointConstraint::SolveConstraint(btScalar timeStep)
}
}
void btPoint2PointConstraint::UpdateRHS(btScalar timeStep)
void btPoint2PointConstraint::updateRHS(btScalar timeStep)
{
}

10
src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h
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@@ -54,19 +54,19 @@ public:
btPoint2PointConstraint();
virtual void BuildJacobian();
virtual void buildJacobian();
virtual void SolveConstraint(btScalar timeStep);
virtual void solveConstraint(btScalar timeStep);
void UpdateRHS(btScalar timeStep);
void updateRHS(btScalar timeStep);
void SetPivotA(const btVector3& pivotA)
void setPivotA(const btVector3& pivotA)
{
m_pivotInA = pivotA;
}
void SetPivotB(const btVector3& pivotB)
void setPivotB(const btVector3& pivotB)
{
m_pivotInB = pivotB;
}

84
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
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@@ -59,14 +59,14 @@ btSequentialImpulseConstraintSolver::btSequentialImpulseConstraintSolver()
}
/// btSequentialImpulseConstraintSolver Sequentially applies impulses
float btSequentialImpulseConstraintSolver::SolveGroup(btPersistentManifold** manifoldPtr, int numManifolds,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer)
float btSequentialImpulseConstraintSolver::solveGroup(btPersistentManifold** manifoldPtr, int numManifolds,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer)
{
btContactSolverInfo info = infoGlobal;
int numiter = infoGlobal.m_numIterations;
#ifdef USE_PROFILE
btProfiler::beginBlock("Solve");
btProfiler::beginBlock("solve");
#endif //USE_PROFILE
{
@@ -76,8 +76,8 @@ float btSequentialImpulseConstraintSolver::SolveGroup(btPersistentManifold** man
int k=j;
//interleaving the preparation with solving impacts the behaviour a lot, todo: find out why
PrepareConstraints(manifoldPtr[k],info,debugDrawer);
Solve(manifoldPtr[k],info,0,debugDrawer);
prepareConstraints(manifoldPtr[k],info,debugDrawer);
solve(manifoldPtr[k],info,0,debugDrawer);
}
}
@@ -93,14 +93,14 @@ float btSequentialImpulseConstraintSolver::SolveGroup(btPersistentManifold** man
if (i&1)
k=numManifolds-j-1;
Solve(manifoldPtr[k],info,i,debugDrawer);
solve(manifoldPtr[k],info,i,debugDrawer);
}
}
#ifdef USE_PROFILE
btProfiler::endBlock("Solve");
btProfiler::endBlock("solve");
btProfiler::beginBlock("SolveFriction");
btProfiler::beginBlock("solveFriction");
#endif //USE_PROFILE
//now solve the friction
@@ -112,11 +112,11 @@ float btSequentialImpulseConstraintSolver::SolveGroup(btPersistentManifold** man
int k = j;
if (i&1)
k=numManifolds-j-1;
SolveFriction(manifoldPtr[k],info,i,debugDrawer);
solveFriction(manifoldPtr[k],info,i,debugDrawer);
}
}
#ifdef USE_PROFILE
btProfiler::endBlock("SolveFriction");
btProfiler::endBlock("solveFriction");
#endif //USE_PROFILE
return 0.f;
@@ -131,29 +131,29 @@ btScalar restitutionCurve(btScalar rel_vel, btScalar restitution)
}
void btSequentialImpulseConstraintSolver::PrepareConstraints(btPersistentManifold* manifoldPtr, const btContactSolverInfo& info,btIDebugDraw* debugDrawer)
void btSequentialImpulseConstraintSolver::prepareConstraints(btPersistentManifold* manifoldPtr, const btContactSolverInfo& info,btIDebugDraw* debugDrawer)
{
btRigidBody* body0 = (btRigidBody*)manifoldPtr->GetBody0();
btRigidBody* body1 = (btRigidBody*)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
{
manifoldPtr->RefreshContactPoints(body0->getCenterOfMassTransform(),body1->getCenterOfMassTransform());
manifoldPtr->refreshContactPoints(body0->getCenterOfMassTransform(),body1->getCenterOfMassTransform());
int numpoints = manifoldPtr->GetNumContacts();
int numpoints = manifoldPtr->getNumContacts();
gTotalContactPoints += numpoints;
btVector3 color(0,1,0);
for (int i=0;i<numpoints ;i++)
{
btManifoldPoint& cp = manifoldPtr->GetContactPoint(i);
if (cp.GetDistance() <= 0.f)
btManifoldPoint& cp = manifoldPtr->getContactPoint(i);
if (cp.getDistance() <= 0.f)
{
const btVector3& pos1 = cp.GetPositionWorldOnA();
const btVector3& pos2 = cp.GetPositionWorldOnB();
const btVector3& pos1 = cp.getPositionWorldOnA();
const btVector3& pos2 = cp.getPositionWorldOnB();
btVector3 rel_pos1 = pos1 - body0->getCenterOfMassPosition();
btVector3 rel_pos2 = pos2 - body1->getCenterOfMassPosition();
@@ -173,15 +173,15 @@ void btSequentialImpulseConstraintSolver::PrepareConstraints(btPersistentManifol
{
//might be invalid
cpd->m_persistentLifeTime++;
if (cpd->m_persistentLifeTime != cp.GetLifeTime())
if (cpd->m_persistentLifeTime != cp.getLifeTime())
{
//printf("Invalid: cpd->m_persistentLifeTime = %i cp.GetLifeTime() = %i\n",cpd->m_persistentLifeTime,cp.GetLifeTime());
//printf("Invalid: cpd->m_persistentLifeTime = %i cp.getLifeTime() = %i\n",cpd->m_persistentLifeTime,cp.getLifeTime());
new (cpd) btConstraintPersistentData;
cpd->m_persistentLifeTime = cp.GetLifeTime();
cpd->m_persistentLifeTime = cp.getLifeTime();
} else
{
//printf("Persistent: cpd->m_persistentLifeTime = %i cp.GetLifeTime() = %i\n",cpd->m_persistentLifeTime,cp.GetLifeTime());
//printf("Persistent: cpd->m_persistentLifeTime = %i cp.getLifeTime() = %i\n",cpd->m_persistentLifeTime,cp.getLifeTime());
}
} else
@@ -191,8 +191,8 @@ void btSequentialImpulseConstraintSolver::PrepareConstraints(btPersistentManifol
totalCpd ++;
//printf("totalCpd = %i Created Ptr %x\n",totalCpd,cpd);
cp.m_userPersistentData = cpd;
cpd->m_persistentLifeTime = cp.GetLifeTime();
//printf("CREATED: %x . cpd->m_persistentLifeTime = %i cp.GetLifeTime() = %i\n",cpd,cpd->m_persistentLifeTime,cp.GetLifeTime());
cpd->m_persistentLifeTime = cp.getLifeTime();
//printf("CREATED: %x . cpd->m_persistentLifeTime = %i cp.getLifeTime() = %i\n",cpd,cpd->m_persistentLifeTime,cp.getLifeTime());
}
assert(cpd);
@@ -213,7 +213,7 @@ void btSequentialImpulseConstraintSolver::PrepareConstraints(btPersistentManifol
float combinedRestitution = cp.m_combinedRestitution;
cpd->m_penetration = cp.GetDistance();
cpd->m_penetration = cp.getDistance();
cpd->m_friction = cp.m_combinedFriction;
cpd->m_restitution = restitutionCurve(rel_vel, combinedRestitution);
if (cpd->m_restitution <= 0.) //0.f)
@@ -248,14 +248,14 @@ void btSequentialImpulseConstraintSolver::PrepareConstraints(btPersistentManifol
cpd->m_accumulatedTangentImpulse0 = 0.f;
cpd->m_accumulatedTangentImpulse1 = 0.f;
#endif //NO_FRICTION_WARMSTART
float denom0 = body0->ComputeImpulseDenominator(pos1,cpd->m_frictionWorldTangential0);
float denom1 = body1->ComputeImpulseDenominator(pos2,cpd->m_frictionWorldTangential0);
float denom0 = body0->computeImpulseDenominator(pos1,cpd->m_frictionWorldTangential0);
float denom1 = body1->computeImpulseDenominator(pos2,cpd->m_frictionWorldTangential0);
float denom = relaxation/(denom0+denom1);
cpd->m_jacDiagABInvTangent0 = denom;
denom0 = body0->ComputeImpulseDenominator(pos1,cpd->m_frictionWorldTangential1);
denom1 = body1->ComputeImpulseDenominator(pos2,cpd->m_frictionWorldTangential1);
denom0 = body0->computeImpulseDenominator(pos1,cpd->m_frictionWorldTangential1);
denom1 = body1->computeImpulseDenominator(pos2,cpd->m_frictionWorldTangential1);
denom = relaxation/(denom0+denom1);
cpd->m_jacDiagABInvTangent1 = denom;
@@ -275,16 +275,16 @@ void btSequentialImpulseConstraintSolver::PrepareConstraints(btPersistentManifol
}
}
float btSequentialImpulseConstraintSolver::Solve(btPersistentManifold* manifoldPtr, const btContactSolverInfo& info,int iter,btIDebugDraw* debugDrawer)
float btSequentialImpulseConstraintSolver::solve(btPersistentManifold* manifoldPtr, const btContactSolverInfo& info,int iter,btIDebugDraw* debugDrawer)
{
btRigidBody* body0 = (btRigidBody*)manifoldPtr->GetBody0();
btRigidBody* body1 = (btRigidBody*)manifoldPtr->GetBody1();
btRigidBody* body0 = (btRigidBody*)manifoldPtr->getBody0();
btRigidBody* body1 = (btRigidBody*)manifoldPtr->getBody1();
float maxImpulse = 0.f;
{
const int numpoints = manifoldPtr->GetNumContacts();
const int numpoints = manifoldPtr->getNumContacts();
btVector3 color(0,1,0);
for (int i=0;i<numpoints ;i++)
@@ -296,14 +296,14 @@ float btSequentialImpulseConstraintSolver::Solve(btPersistentManifold* manifoldP
else
j=i;
btManifoldPoint& cp = manifoldPtr->GetContactPoint(j);
if (cp.GetDistance() <= 0.f)
btManifoldPoint& cp = manifoldPtr->getContactPoint(j);
if (cp.getDistance() <= 0.f)
{
if (iter == 0)
{
if (debugDrawer)
debugDrawer->DrawContactPoint(cp.m_positionWorldOnB,cp.m_normalWorldOnB,cp.GetDistance(),cp.GetLifeTime(),color);
debugDrawer->drawContactPoint(cp.m_positionWorldOnB,cp.m_normalWorldOnB,cp.getDistance(),cp.getLifeTime(),color);
}
{
@@ -324,14 +324,14 @@ float btSequentialImpulseConstraintSolver::Solve(btPersistentManifold* manifoldP
return maxImpulse;
}
float btSequentialImpulseConstraintSolver::SolveFriction(btPersistentManifold* manifoldPtr, const btContactSolverInfo& info,int iter,btIDebugDraw* debugDrawer)
float btSequentialImpulseConstraintSolver::solveFriction(btPersistentManifold* manifoldPtr, const btContactSolverInfo& info,int iter,btIDebugDraw* debugDrawer)
{
btRigidBody* body0 = (btRigidBody*)manifoldPtr->GetBody0();
btRigidBody* body1 = (btRigidBody*)manifoldPtr->GetBody1();
btRigidBody* body0 = (btRigidBody*)manifoldPtr->getBody0();
btRigidBody* body1 = (btRigidBody*)manifoldPtr->getBody1();
{
const int numpoints = manifoldPtr->GetNumContacts();
const int numpoints = manifoldPtr->getNumContacts();
btVector3 color(0,1,0);
for (int i=0;i<numpoints ;i++)
@@ -341,8 +341,8 @@ float btSequentialImpulseConstraintSolver::SolveFriction(btPersistentManifold* m
//if (iter % 2)
// j = numpoints-1-i;
btManifoldPoint& cp = manifoldPtr->GetContactPoint(j);
if (cp.GetDistance() <= 0.f)
btManifoldPoint& cp = manifoldPtr->getContactPoint(j);
if (cp.getDistance() <= 0.f)
{
btConstraintPersistentData* cpd = (btConstraintPersistentData*) cp.m_userPersistentData;

10
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
View File

@@ -29,9 +29,9 @@ class btIDebugDraw;
/// Applies impulses for combined restitution and penetration recovery and to simulate friction
class btSequentialImpulseConstraintSolver : public btConstraintSolver
{
float Solve(btPersistentManifold* manifold, const btContactSolverInfo& info,int iter,btIDebugDraw* debugDrawer);
float SolveFriction(btPersistentManifold* manifoldPtr, const btContactSolverInfo& info,int iter,btIDebugDraw* debugDrawer);
void PrepareConstraints(btPersistentManifold* manifoldPtr, const btContactSolverInfo& info,btIDebugDraw* debugDrawer);
float solve(btPersistentManifold* manifold, const btContactSolverInfo& info,int iter,btIDebugDraw* debugDrawer);
float solveFriction(btPersistentManifold* manifoldPtr, const btContactSolverInfo& info,int iter,btIDebugDraw* debugDrawer);
void prepareConstraints(btPersistentManifold* manifoldPtr, const btContactSolverInfo& info,btIDebugDraw* debugDrawer);
ContactSolverFunc m_contactDispatch[MAX_CONTACT_SOLVER_TYPES][MAX_CONTACT_SOLVER_TYPES];
ContactSolverFunc m_frictionDispatch[MAX_CONTACT_SOLVER_TYPES][MAX_CONTACT_SOLVER_TYPES];
@@ -42,7 +42,7 @@ public:
///Advanced: Override the default contact solving function for contacts, for certain types of rigidbody
///See btRigidBody::m_contactSolverType and btRigidBody::m_frictionSolverType
void SetContactSolverFunc(ContactSolverFunc func,int type0,int type1)
void setContactSolverFunc(ContactSolverFunc func,int type0,int type1)
{
m_contactDispatch[type0][type1] = func;
}
@@ -56,7 +56,7 @@ public:
virtual ~btSequentialImpulseConstraintSolver() {}
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);
};

22
src/BulletDynamics/ConstraintSolver/btTypedConstraint.h
View File

@@ -40,48 +40,48 @@ public:
btTypedConstraint(btRigidBody& rbA,btRigidBody& rbB);
virtual void BuildJacobian() = 0;
virtual void buildJacobian() = 0;
virtual void SolveConstraint(btScalar timeStep) = 0;
virtual void solveConstraint(btScalar timeStep) = 0;
const btRigidBody& GetRigidBodyA() const
const btRigidBody& getRigidBodyA() const
{
return m_rbA;
}
const btRigidBody& GetRigidBodyB() const
const btRigidBody& getRigidBodyB() const
{
return m_rbB;
}
btRigidBody& GetRigidBodyA()
btRigidBody& getRigidBodyA()
{
return m_rbA;
}
btRigidBody& GetRigidBodyB()
btRigidBody& getRigidBodyB()
{
return m_rbB;
}
int GetUserConstraintType() const
int getUserConstraintType() const
{
return m_userConstraintType ;
}
void SetUserConstraintType(int userConstraintType)
void setUserConstraintType(int userConstraintType)
{
m_userConstraintType = userConstraintType;
};
void SetUserConstraintId(int uid)
void setUserConstraintId(int uid)
{
m_userConstraintId = uid;
}
int GetUserConstraintId()
int getUserConstraintId()
{
return m_userConstraintId;
}
float GetAppliedImpulse()
float getAppliedImpulse()
{
return m_appliedImpulse;
}

30
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
View File

@@ -72,7 +72,7 @@ void btDiscreteDynamicsWorld::stepSimulation(float timeStep)
predictUnconstraintMotion(timeStep);
///perform collision detection
PerformDiscreteCollisionDetection();
performDiscreteCollisionDetection();
calculateSimulationIslands();
@@ -104,7 +104,7 @@ void btDiscreteDynamicsWorld::updateVehicles(float timeStep)
for (int i=0;i<m_vehicles.size();i++)
{
btRaycastVehicle* vehicle = m_vehicles[i];
vehicle->UpdateVehicle( timeStep);
vehicle->updateVehicle( timeStep);
}
}
@@ -184,7 +184,7 @@ void btDiscreteDynamicsWorld::solveContactConstraints(btContactSolverInfo& solve
virtual void ProcessIsland(btPersistentManifold** manifolds,int numManifolds)
{
m_solver->SolveGroup( manifolds, numManifolds,m_solverInfo,m_debugDrawer);
m_solver->solveGroup( manifolds, numManifolds,m_solverInfo,m_debugDrawer);
}
};
@@ -194,7 +194,7 @@ void btDiscreteDynamicsWorld::solveContactConstraints(btContactSolverInfo& solve
/// solve all the contact points and contact friction
m_islandManager->BuildAndProcessIslands(GetCollisionWorld()->GetDispatcher(),GetCollisionWorld()->GetCollisionObjectArray(),&solverCallback);
m_islandManager->buildAndProcessIslands(getCollisionWorld()->getDispatcher(),getCollisionWorld()->getCollisionObjectArray(),&solverCallback);
}
@@ -203,7 +203,7 @@ void btDiscreteDynamicsWorld::solveContactConstraints(btContactSolverInfo& solve
void btDiscreteDynamicsWorld::solveNoncontactConstraints(btContactSolverInfo& solverInfo)
{
#ifdef USE_QUICKPROF
Profiler::beginBlock("SolveConstraint");
Profiler::beginBlock("solveConstraint");
#endif //USE_QUICKPROF
@@ -215,7 +215,7 @@ void btDiscreteDynamicsWorld::solveNoncontactConstraints(btContactSolverInfo& so
for (i=0;i< numConstraints ; i++ )
{
btTypedConstraint* constraint = m_constraints[i];
constraint->BuildJacobian();
constraint->buildJacobian();
}
//solve the regular non-contact constraints (point 2 point, hinge, generic d6)
@@ -227,12 +227,12 @@ void btDiscreteDynamicsWorld::solveNoncontactConstraints(btContactSolverInfo& so
for (i=0;i< numConstraints ; i++ )
{
btTypedConstraint* constraint = m_constraints[i];
constraint->SolveConstraint( solverInfo.m_timeStep );
constraint->solveConstraint( solverInfo.m_timeStep );
}
}
#ifdef USE_QUICKPROF
Profiler::endBlock("SolveConstraint");
Profiler::endBlock("solveConstraint");
#endif //USE_QUICKPROF
}
@@ -244,7 +244,7 @@ void btDiscreteDynamicsWorld::calculateSimulationIslands()
Profiler::beginBlock("IslandUnionFind");
#endif //USE_QUICKPROF
GetSimulationIslandManager()->UpdateActivationState(GetCollisionWorld(),GetCollisionWorld()->GetDispatcher());
getSimulationIslandManager()->updateActivationState(getCollisionWorld(),getCollisionWorld()->getDispatcher());
{
int i;
@@ -253,8 +253,8 @@ void btDiscreteDynamicsWorld::calculateSimulationIslands()
{
btTypedConstraint* constraint = m_constraints[i];
const btRigidBody* colObj0 = &constraint->GetRigidBodyA();
const btRigidBody* colObj1 = &constraint->GetRigidBodyB();
const btRigidBody* colObj0 = &constraint->getRigidBodyA();
const btRigidBody* colObj1 = &constraint->getRigidBodyB();
if (((colObj0) && ((colObj0)->mergesSimulationIslands())) &&
((colObj1) && ((colObj1)->mergesSimulationIslands())))
@@ -262,7 +262,7 @@ void btDiscreteDynamicsWorld::calculateSimulationIslands()
if (colObj0->IsActive() || colObj1->IsActive())
{
GetSimulationIslandManager()->GetUnionFind().unite((colObj0)->m_islandTag1,
getSimulationIslandManager()->getUnionFind().unite((colObj0)->m_islandTag1,
(colObj1)->m_islandTag1);
}
}
@@ -270,7 +270,7 @@ void btDiscreteDynamicsWorld::calculateSimulationIslands()
}
//Store the island id in each body
GetSimulationIslandManager()->StoreIslandActivationState(GetCollisionWorld());
getSimulationIslandManager()->storeIslandActivationState(getCollisionWorld());
#ifdef USE_QUICKPROF
Profiler::endBlock("IslandUnionFind");
@@ -290,9 +290,9 @@ void btDiscreteDynamicsWorld::updateAabbs()
if (body->IsActive() && (!body->IsStatic()))
{
btPoint3 minAabb,maxAabb;
colObj->m_collisionShape->GetAabb(colObj->m_worldTransform, minAabb,maxAabb);
colObj->m_collisionShape->getAabb(colObj->m_worldTransform, minAabb,maxAabb);
btSimpleBroadphase* bp = (btSimpleBroadphase*)m_pairCache;
bp->SetAabb(body->m_broadphaseHandle,minAabb,maxAabb);
bp->setAabb(body->m_broadphaseHandle,minAabb,maxAabb);
}
}
}

6
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h
View File

@@ -77,17 +77,17 @@ public:
void removeVehicle(btRaycastVehicle* vehicle);
btSimulationIslandManager* GetSimulationIslandManager()
btSimulationIslandManager* getSimulationIslandManager()
{
return m_islandManager;
}
const btSimulationIslandManager* GetSimulationIslandManager() const
const btSimulationIslandManager* getSimulationIslandManager() const
{
return m_islandManager;
}
btCollisionWorld* GetCollisionWorld()
btCollisionWorld* getCollisionWorld()
{
return this;
}

6
src/BulletDynamics/Dynamics/btRigidBody.cpp
View File

@@ -60,7 +60,7 @@ void btRigidBody::setLinearVelocity(const btVector3& lin_vel)
void btRigidBody::predictIntegratedTransform(btScalar timeStep,btTransform& predictedTransform) const
{
btTransformUtil::IntegrateTransform(m_worldTransform,m_linearVelocity,m_angularVelocity,timeStep,predictedTransform);
btTransformUtil::integrateTransform(m_worldTransform,m_linearVelocity,m_angularVelocity,timeStep,predictedTransform);
}
void btRigidBody::saveKinematicState(btScalar timeStep)
@@ -69,7 +69,7 @@ void btRigidBody::saveKinematicState(btScalar timeStep)
if (m_kinematicTimeStep)
{
btVector3 linVel,angVel;
btTransformUtil::CalculateVelocity(m_interpolationWorldTransform,m_worldTransform,m_kinematicTimeStep,m_linearVelocity,m_angularVelocity);
btTransformUtil::calculateVelocity(m_interpolationWorldTransform,m_worldTransform,m_kinematicTimeStep,m_linearVelocity,m_angularVelocity);
//printf("angular = %f %f %f\n",m_angularVelocity.getX(),m_angularVelocity.getY(),m_angularVelocity.getZ());
}
@@ -81,7 +81,7 @@ void btRigidBody::saveKinematicState(btScalar timeStep)
void btRigidBody::getAabb(btVector3& aabbMin,btVector3& aabbMax) const
{
GetCollisionShape()->GetAabb(m_worldTransform,aabbMin,aabbMax);
getCollisionShape()->getAabb(m_worldTransform,aabbMin,aabbMax);
}

14
src/BulletDynamics/Dynamics/btRigidBody.h
View File

@@ -78,11 +78,11 @@ public:
void setDamping(btScalar lin_damping, btScalar ang_damping);
inline const btCollisionShape* GetCollisionShape() const {
inline const btCollisionShape* getCollisionShape() const {
return m_collisionShape;
}
inline btCollisionShape* GetCollisionShape() {
inline btCollisionShape* getCollisionShape() {
return m_collisionShape;
}
@@ -197,7 +197,7 @@ public:
inline float ComputeImpulseDenominator(const btPoint3& pos, const btVector3& normal) const
inline float computeImpulseDenominator(const btPoint3& pos, const btVector3& normal) const
{
btVector3 r0 = pos - getCenterOfMassPosition();
@@ -209,7 +209,7 @@ public:
}
inline float ComputeAngularImpulseDenominator(const btVector3& axis) const
inline float computeAngularImpulseDenominator(const btVector3& axis) const
{
btVector3 vec = axis * getInvInertiaTensorWorld();
return axis.dot(vec);
@@ -254,15 +254,15 @@ public:
const btBroadphaseProxy* GetBroadphaseProxy() const
const btBroadphaseProxy* getBroadphaseProxy() const
{
return m_broadphaseProxy;
}
btBroadphaseProxy* GetBroadphaseProxy()
btBroadphaseProxy* getBroadphaseProxy()
{
return m_broadphaseProxy;
}
void SetBroadphaseProxy(btBroadphaseProxy* broadphaseProxy)
void setBroadphaseProxy(btBroadphaseProxy* broadphaseProxy)
{
m_broadphaseProxy = broadphaseProxy;
}

10
src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp
View File

@@ -54,15 +54,15 @@ void btSimpleDynamicsWorld::stepSimulation(float timeStep)
predictUnconstraintMotion(timeStep);
///perform collision detection
PerformDiscreteCollisionDetection();
performDiscreteCollisionDetection();
///solve contact constraints
btPersistentManifold** manifoldPtr = ((btCollisionDispatcher*)m_dispatcher1)->getInternalManifoldPointer();
int numManifolds = m_dispatcher1->GetNumManifolds();
int numManifolds = m_dispatcher1->getNumManifolds();
btContactSolverInfo infoGlobal;
infoGlobal.m_timeStep = timeStep;
btIDebugDraw* debugDrawer=0;
m_constraintSolver->SolveGroup(manifoldPtr, numManifolds,infoGlobal,debugDrawer);
m_constraintSolver->solveGroup(manifoldPtr, numManifolds,infoGlobal,debugDrawer);
///integrate transforms
integrateTransforms(timeStep);
@@ -85,9 +85,9 @@ void btSimpleDynamicsWorld::updateAabbs()
if (body->IsActive() && (!body->IsStatic()))
{
btPoint3 minAabb,maxAabb;
colObj->m_collisionShape->GetAabb(colObj->m_worldTransform, minAabb,maxAabb);
colObj->m_collisionShape->getAabb(colObj->m_worldTransform, minAabb,maxAabb);
btSimpleBroadphase* bp = (btSimpleBroadphase*)m_pairCache;
bp->SetAabb(body->m_broadphaseHandle,minAabb,maxAabb);
bp->setAabb(body->m_broadphaseHandle,minAabb,maxAabb);
}
}
}

126
src/BulletDynamics/Vehicle/btRaycastVehicle.cpp
View File

@@ -33,11 +33,11 @@ m_pitchControl(0.f)
m_indexRightAxis = 0;
m_indexUpAxis = 2;
m_indexForwardAxis = 1;
DefaultInit(tuning);
defaultInit(tuning);
}
void btRaycastVehicle::DefaultInit(const btVehicleTuning& tuning)
void btRaycastVehicle::defaultInit(const btVehicleTuning& tuning)
{
m_currentVehicleSpeedKmHour = 0.f;
m_steeringValue = 0.f;
@@ -54,7 +54,7 @@ btRaycastVehicle::~btRaycastVehicle()
//
// basically most of the code is general for 2 or 4 wheel vehicles, but some of it needs to be reviewed
//
btWheelInfo& btRaycastVehicle::AddWheel( const btVector3& connectionPointCS, const btVector3& wheelDirectionCS0,const btVector3& wheelAxleCS, btScalar suspensionRestLength, btScalar wheelRadius,const btVehicleTuning& tuning, bool isFrontWheel)
btWheelInfo& btRaycastVehicle::addWheel( const btVector3& connectionPointCS, const btVector3& wheelDirectionCS0,const btVector3& wheelAxleCS, btScalar suspensionRestLength, btScalar wheelRadius,const btVehicleTuning& tuning, bool isFrontWheel)
{
btWheelInfoConstructionInfo ci;
@@ -73,29 +73,29 @@ btWheelInfo& btRaycastVehicle::AddWheel( const btVector3& connectionPointCS, con
m_wheelInfo.push_back( btWheelInfo(ci));
btWheelInfo& wheel = m_wheelInfo[GetNumWheels()-1];
btWheelInfo& wheel = m_wheelInfo[getNumWheels()-1];
UpdateWheelTransformsWS( wheel );
UpdateWheelTransform(GetNumWheels()-1);
updateWheelTransformsWS( wheel );
updateWheelTransform(getNumWheels()-1);
return wheel;
}
const btTransform& btRaycastVehicle::GetWheelTransformWS( int wheelIndex ) const
const btTransform& btRaycastVehicle::getWheelTransformWS( int wheelIndex ) const
{
assert(wheelIndex < GetNumWheels());
assert(wheelIndex < getNumWheels());
const btWheelInfo& wheel = m_wheelInfo[wheelIndex];
return wheel.m_worldTransform;
}
void btRaycastVehicle::UpdateWheelTransform( int wheelIndex )
void btRaycastVehicle::updateWheelTransform( int wheelIndex )
{
btWheelInfo& wheel = m_wheelInfo[ wheelIndex ];
UpdateWheelTransformsWS(wheel);
updateWheelTransformsWS(wheel);
btVector3 up = -wheel.m_raycastInfo.m_wheelDirectionWS;
const btVector3& right = wheel.m_raycastInfo.m_wheelAxleWS;
btVector3 fwd = up.cross(right);
@@ -121,7 +121,7 @@ void btRaycastVehicle::UpdateWheelTransform( int wheelIndex )
);
}
void btRaycastVehicle::ResetSuspension()
void btRaycastVehicle::resetSuspension()
{
std::vector<btWheelInfo>::iterator wheelIt;
@@ -129,7 +129,7 @@ void btRaycastVehicle::ResetSuspension()
!(wheelIt == m_wheelInfo.end());wheelIt++)
{
btWheelInfo& wheel = *wheelIt;
wheel.m_raycastInfo.m_suspensionLength = wheel.GetSuspensionRestLength();
wheel.m_raycastInfo.m_suspensionLength = wheel.getSuspensionRestLength();
wheel.m_suspensionRelativeVelocity = 0.0f;
wheel.m_raycastInfo.m_contactNormalWS = - wheel.m_raycastInfo.m_wheelDirectionWS;
@@ -138,25 +138,25 @@ void btRaycastVehicle::ResetSuspension()
}
}
void btRaycastVehicle::UpdateWheelTransformsWS(btWheelInfo& wheel )
void btRaycastVehicle::updateWheelTransformsWS(btWheelInfo& wheel )
{
wheel.m_raycastInfo.m_isInContact = false;
const btTransform& chassisTrans = GetRigidBody()->getCenterOfMassTransform();
const btTransform& chassisTrans = getRigidBody()->getCenterOfMassTransform();
wheel.m_raycastInfo.m_hardPointWS = chassisTrans( wheel.m_chassisConnectionPointCS );
wheel.m_raycastInfo.m_wheelDirectionWS = chassisTrans.getBasis() * wheel.m_wheelDirectionCS ;
wheel.m_raycastInfo.m_wheelAxleWS = chassisTrans.getBasis() * wheel.m_wheelAxleCS;
}
btScalar btRaycastVehicle::Raycast(btWheelInfo& wheel)
btScalar btRaycastVehicle::rayCast(btWheelInfo& wheel)
{
UpdateWheelTransformsWS( wheel );
updateWheelTransformsWS( wheel );
btScalar depth = -1;
btScalar raylen = wheel.GetSuspensionRestLength()+wheel.m_wheelsRadius;
btScalar raylen = wheel.getSuspensionRestLength()+wheel.m_wheelsRadius;
btVector3 rayvector = wheel.m_raycastInfo.m_wheelDirectionWS * (raylen);
const btVector3& source = wheel.m_raycastInfo.m_hardPointWS;
@@ -167,7 +167,7 @@ btScalar btRaycastVehicle::Raycast(btWheelInfo& wheel)
btVehicleRaycaster::btVehicleRaycasterResult rayResults;
void* object = m_vehicleRaycaster->CastRay(source,target,rayResults);
void* object = m_vehicleRaycaster->castRay(source,target,rayResults);
wheel.m_raycastInfo.m_groundObject = 0;
@@ -186,8 +186,8 @@ btScalar btRaycastVehicle::Raycast(btWheelInfo& wheel)
wheel.m_raycastInfo.m_suspensionLength = hitDistance - wheel.m_wheelsRadius;
//clamp on max suspension travel
float minSuspensionLength = wheel.GetSuspensionRestLength() - wheel.m_maxSuspensionTravelCm*0.01f;
float maxSuspensionLength = wheel.GetSuspensionRestLength()+ wheel.m_maxSuspensionTravelCm*0.01f;
float minSuspensionLength = wheel.getSuspensionRestLength() - wheel.m_maxSuspensionTravelCm*0.01f;
float maxSuspensionLength = wheel.getSuspensionRestLength()+ wheel.m_maxSuspensionTravelCm*0.01f;
if (wheel.m_raycastInfo.m_suspensionLength < minSuspensionLength)
{
wheel.m_raycastInfo.m_suspensionLength = minSuspensionLength;
@@ -202,9 +202,9 @@ btScalar btRaycastVehicle::Raycast(btWheelInfo& wheel)
btScalar denominator= wheel.m_raycastInfo.m_contactNormalWS.dot( wheel.m_raycastInfo.m_wheelDirectionWS );
btVector3 chassis_velocity_at_contactPoint;
btVector3 relpos = wheel.m_raycastInfo.m_contactPointWS-GetRigidBody()->getCenterOfMassPosition();
btVector3 relpos = wheel.m_raycastInfo.m_contactPointWS-getRigidBody()->getCenterOfMassPosition();
chassis_velocity_at_contactPoint = GetRigidBody()->getVelocityInLocalPoint(relpos);
chassis_velocity_at_contactPoint = getRigidBody()->getVelocityInLocalPoint(relpos);
btScalar projVel = wheel.m_raycastInfo.m_contactNormalWS.dot( chassis_velocity_at_contactPoint );
@@ -223,7 +223,7 @@ btScalar btRaycastVehicle::Raycast(btWheelInfo& wheel)
} else
{
//put wheel info as in rest position
wheel.m_raycastInfo.m_suspensionLength = wheel.GetSuspensionRestLength();
wheel.m_raycastInfo.m_suspensionLength = wheel.getSuspensionRestLength();
wheel.m_suspensionRelativeVelocity = 0.0f;
wheel.m_raycastInfo.m_contactNormalWS = - wheel.m_raycastInfo.m_wheelDirectionWS;
wheel.m_clippedInvContactDotSuspension = 1.0f;
@@ -233,18 +233,18 @@ btScalar btRaycastVehicle::Raycast(btWheelInfo& wheel)
}
void btRaycastVehicle::UpdateVehicle( btScalar step )
void btRaycastVehicle::updateVehicle( btScalar step )
{
m_currentVehicleSpeedKmHour = 3.6f * GetRigidBody()->getLinearVelocity().length();
m_currentVehicleSpeedKmHour = 3.6f * getRigidBody()->getLinearVelocity().length();
const btTransform& chassisTrans = GetRigidBody()->getCenterOfMassTransform();
const btTransform& chassisTrans = getRigidBody()->getCenterOfMassTransform();
btVector3 forwardW (
chassisTrans.getBasis()[0][m_indexForwardAxis],
chassisTrans.getBasis()[1][m_indexForwardAxis],
chassisTrans.getBasis()[2][m_indexForwardAxis]);
if (forwardW.dot(GetRigidBody()->getLinearVelocity()) < 0.f)
if (forwardW.dot(getRigidBody()->getLinearVelocity()) < 0.f)
{
m_currentVehicleSpeedKmHour *= -1.f;
}
@@ -258,10 +258,10 @@ void btRaycastVehicle::UpdateVehicle( btScalar step )
!(wheelIt == m_wheelInfo.end());wheelIt++,i++)
{
btScalar depth;
depth = Raycast( *wheelIt );
depth = rayCast( *wheelIt );
}
UpdateSuspension(step);
updateSuspension(step);
for (wheelIt = m_wheelInfo.begin();
@@ -278,30 +278,30 @@ void btRaycastVehicle::UpdateVehicle( btScalar step )
suspensionForce = gMaxSuspensionForce;
}
btVector3 impulse = wheel.m_raycastInfo.m_contactNormalWS * suspensionForce * step;
btVector3 relpos = wheel.m_raycastInfo.m_contactPointWS - GetRigidBody()->getCenterOfMassPosition();
btVector3 relpos = wheel.m_raycastInfo.m_contactPointWS - getRigidBody()->getCenterOfMassPosition();
GetRigidBody()->applyImpulse(impulse, relpos);
getRigidBody()->applyImpulse(impulse, relpos);
}
UpdateFriction( step);
updateFriction( step);
for (wheelIt = m_wheelInfo.begin();
!(wheelIt == m_wheelInfo.end());wheelIt++)
{
btWheelInfo& wheel = *wheelIt;
btVector3 relpos = wheel.m_raycastInfo.m_hardPointWS - GetRigidBody()->getCenterOfMassPosition();
btVector3 vel = GetRigidBody()->getVelocityInLocalPoint( relpos );
btVector3 relpos = wheel.m_raycastInfo.m_hardPointWS - getRigidBody()->getCenterOfMassPosition();
btVector3 vel = getRigidBody()->getVelocityInLocalPoint( relpos );
if (wheel.m_raycastInfo.m_isInContact)
{
btVector3 fwd (
GetRigidBody()->getCenterOfMassTransform().getBasis()[0][m_indexForwardAxis],
GetRigidBody()->getCenterOfMassTransform().getBasis()[1][m_indexForwardAxis],
GetRigidBody()->getCenterOfMassTransform().getBasis()[2][m_indexForwardAxis]);
getRigidBody()->getCenterOfMassTransform().getBasis()[0][m_indexForwardAxis],
getRigidBody()->getCenterOfMassTransform().getBasis()[1][m_indexForwardAxis],
getRigidBody()->getCenterOfMassTransform().getBasis()[2][m_indexForwardAxis]);
btScalar proj = fwd.dot(wheel.m_raycastInfo.m_contactNormalWS);
fwd -= wheel.m_raycastInfo.m_contactNormalWS * proj;
@@ -325,57 +325,57 @@ void btRaycastVehicle::UpdateVehicle( btScalar step )
}
void btRaycastVehicle::SetSteeringValue(btScalar steering,int wheel)
void btRaycastVehicle::setSteeringValue(btScalar steering,int wheel)
{
assert(wheel>=0 && wheel < GetNumWheels());
assert(wheel>=0 && wheel < getNumWheels());
btWheelInfo& wheelInfo = GetWheelInfo(wheel);
btWheelInfo& wheelInfo = getWheelInfo(wheel);
wheelInfo.m_steering = steering;
}
btScalar btRaycastVehicle::GetSteeringValue(int wheel) const
btScalar btRaycastVehicle::getSteeringValue(int wheel) const
{
return GetWheelInfo(wheel).m_steering;
return getWheelInfo(wheel).m_steering;
}
void btRaycastVehicle::ApplyEngineForce(btScalar force, int wheel)
void btRaycastVehicle::applyEngineForce(btScalar force, int wheel)
{
assert(wheel>=0 && wheel < GetNumWheels());
btWheelInfo& wheelInfo = GetWheelInfo(wheel);
assert(wheel>=0 && wheel < getNumWheels());
btWheelInfo& wheelInfo = getWheelInfo(wheel);
wheelInfo.m_engineForce = force;
}
const btWheelInfo& btRaycastVehicle::GetWheelInfo(int index) const
const btWheelInfo& btRaycastVehicle::getWheelInfo(int index) const
{
ASSERT((index >= 0) && (index < GetNumWheels()));
ASSERT((index >= 0) && (index < getNumWheels()));
return m_wheelInfo[index];
}
btWheelInfo& btRaycastVehicle::GetWheelInfo(int index)
btWheelInfo& btRaycastVehicle::getWheelInfo(int index)
{
ASSERT((index >= 0) && (index < GetNumWheels()));
ASSERT((index >= 0) && (index < getNumWheels()));
return m_wheelInfo[index];
}
void btRaycastVehicle::SetBrake(float brake,int wheelIndex)
void btRaycastVehicle::setBrake(float brake,int wheelIndex)
{
ASSERT((wheelIndex >= 0) && (wheelIndex < GetNumWheels()));
GetWheelInfo(wheelIndex).m_brake;
ASSERT((wheelIndex >= 0) && (wheelIndex < getNumWheels()));
getWheelInfo(wheelIndex).m_brake;
}
void btRaycastVehicle::UpdateSuspension(btScalar deltaTime)
void btRaycastVehicle::updateSuspension(btScalar deltaTime)
{
btScalar chassisMass = 1.f / m_chassisBody->getInvMass();
for (int w_it=0; w_it<GetNumWheels(); w_it++)
for (int w_it=0; w_it<getNumWheels(); w_it++)
{
btWheelInfo &wheel_info = m_wheelInfo[w_it];
@@ -384,7 +384,7 @@ void btRaycastVehicle::UpdateSuspension(btScalar deltaTime)
btScalar force;
// Spring
{
btScalar susp_length = wheel_info.GetSuspensionRestLength();
btScalar susp_length = wheel_info.getSuspensionRestLength();
btScalar current_length = wheel_info.m_raycastInfo.m_suspensionLength;
btScalar length_diff = (susp_length - current_length);
@@ -426,11 +426,11 @@ void btRaycastVehicle::UpdateSuspension(btScalar deltaTime)
}
float sideFrictionStiffness2 = 1.0f;
void btRaycastVehicle::UpdateFriction(btScalar timeStep)
void btRaycastVehicle::updateFriction(btScalar timeStep)
{
//calculate the impulse, so that the wheels don't move sidewards
int numWheel = GetNumWheels();
int numWheel = getNumWheels();
if (!numWheel)
return;
@@ -444,7 +444,7 @@ void btRaycastVehicle::UpdateFriction(btScalar timeStep)
//collapse all those loops into one!
for (int i=0;i<GetNumWheels();i++)
for (int i=0;i<getNumWheels();i++)
{
btWheelInfo& wheelInfo = m_wheelInfo[i];
class btRigidBody* groundObject = (class btRigidBody*) wheelInfo.m_raycastInfo.m_groundObject;
@@ -457,7 +457,7 @@ void btRaycastVehicle::UpdateFriction(btScalar timeStep)
{
for (int i=0;i<GetNumWheels();i++)
for (int i=0;i<getNumWheels();i++)
{
btWheelInfo& wheelInfo = m_wheelInfo[i];
@@ -467,7 +467,7 @@ void btRaycastVehicle::UpdateFriction(btScalar timeStep)
if (groundObject)
{
const btTransform& wheelTrans = GetWheelTransformWS( i );
const btTransform& wheelTrans = getWheelTransformWS( i );
btMatrix3x3 wheelBasis0 = wheelTrans.getBasis();
axle[i] = btVector3(
@@ -501,7 +501,7 @@ void btRaycastVehicle::UpdateFriction(btScalar timeStep)
bool sliding = false;
{
for (int wheel =0;wheel <GetNumWheels();wheel++)
for (int wheel =0;wheel <getNumWheels();wheel++)
{
btWheelInfo& wheelInfo = m_wheelInfo[wheel];
class btRigidBody* groundObject = (class btRigidBody*) wheelInfo.m_raycastInfo.m_groundObject;
@@ -544,7 +544,7 @@ void btRaycastVehicle::UpdateFriction(btScalar timeStep)
if (sliding)
{
for (int wheel = 0;wheel < GetNumWheels(); wheel++)
for (int wheel = 0;wheel < getNumWheels(); wheel++)
{
if (sideImpulse[wheel] != 0.f)
{
@@ -559,7 +559,7 @@ void btRaycastVehicle::UpdateFriction(btScalar timeStep)
// apply the impulses
{
for (int wheel = 0;wheel<GetNumWheels() ; wheel++)
for (int wheel = 0;wheel<getNumWheels() ; wheel++)
{
btWheelInfo& wheelInfo = m_wheelInfo[wheel];

56
src/BulletDynamics/Vehicle/btRaycastVehicle.h
View File

@@ -20,7 +20,7 @@ struct btMassProps;
struct btVehicleRaycaster;
class btVehicleTuning;
///Raycast vehicle, very special constraint that turn a rigidbody into a vehicle.
///rayCast vehicle, very special constraint that turn a rigidbody into a vehicle.
class btRaycastVehicle : public btTypedConstraint
{
public:
@@ -58,7 +58,7 @@ private:
int m_indexUpAxis;
int m_indexForwardAxis;
void DefaultInit(const btVehicleTuning& tuning);
void defaultInit(const btVehicleTuning& tuning);
public:
@@ -71,91 +71,91 @@ public:
btScalar Raycast(btWheelInfo& wheel);
btScalar rayCast(btWheelInfo& wheel);
virtual void UpdateVehicle(btScalar step);
virtual void updateVehicle(btScalar step);
void ResetSuspension();
void resetSuspension();
btScalar GetSteeringValue(int wheel) const;
btScalar getSteeringValue(int wheel) const;
void SetSteeringValue(btScalar steering,int wheel);
void setSteeringValue(btScalar steering,int wheel);
void ApplyEngineForce(btScalar force, int wheel);
void applyEngineForce(btScalar force, int wheel);
const btTransform& GetWheelTransformWS( int wheelIndex ) const;
const btTransform& getWheelTransformWS( int wheelIndex ) const;
void UpdateWheelTransform( int wheelIndex );
void updateWheelTransform( int wheelIndex );
void SetRaycastWheelInfo( int wheelIndex , bool isInContact, const btVector3& hitPoint, const btVector3& hitNormal,btScalar depth);
void setRaycastWheelInfo( int wheelIndex , bool isInContact, const btVector3& hitPoint, const btVector3& hitNormal,btScalar depth);
btWheelInfo& AddWheel( const btVector3& connectionPointCS0, const btVector3& wheelDirectionCS0,const btVector3& wheelAxleCS,btScalar suspensionRestLength,btScalar wheelRadius,const btVehicleTuning& tuning, bool isFrontWheel);
btWheelInfo& addWheel( const btVector3& connectionPointCS0, const btVector3& wheelDirectionCS0,const btVector3& wheelAxleCS,btScalar suspensionRestLength,btScalar wheelRadius,const btVehicleTuning& tuning, bool isFrontWheel);
inline int GetNumWheels() const {
inline int getNumWheels() const {
return m_wheelInfo.size();
}
std::vector<btWheelInfo> m_wheelInfo;
const btWheelInfo& GetWheelInfo(int index) const;
const btWheelInfo& getWheelInfo(int index) const;
btWheelInfo& GetWheelInfo(int index);
btWheelInfo& getWheelInfo(int index);
void UpdateWheelTransformsWS(btWheelInfo& wheel );
void updateWheelTransformsWS(btWheelInfo& wheel );
void SetBrake(float brake,int wheelIndex);
void setBrake(float brake,int wheelIndex);
void SetPitchControl(float pitch)
void setPitchControl(float pitch)
{
m_pitchControl = pitch;
}
void UpdateSuspension(btScalar deltaTime);
void updateSuspension(btScalar deltaTime);
void UpdateFriction(btScalar timeStep);
void updateFriction(btScalar timeStep);
inline btRigidBody* GetRigidBody()
inline btRigidBody* getRigidBody()
{
return m_chassisBody;
}
const btRigidBody* GetRigidBody() const
const btRigidBody* getRigidBody() const
{
return m_chassisBody;
}
inline int GetRightAxis() const
inline int getRightAxis() const
{
return m_indexRightAxis;
}
inline int GetUpAxis() const
inline int getUpAxis() const
{
return m_indexUpAxis;
}
inline int GetForwardAxis() const
inline int getForwardAxis() const
{
return m_indexForwardAxis;
}
virtual void SetCoordinateSystem(int rightIndex,int upIndex,int forwardIndex)
virtual void setCoordinateSystem(int rightIndex,int upIndex,int forwardIndex)
{
m_indexRightAxis = rightIndex;
m_indexUpAxis = upIndex;
m_indexForwardAxis = forwardIndex;
}
virtual void BuildJacobian()
virtual void buildJacobian()
{
//not yet
}
virtual void SolveConstraint(btScalar timeStep)
virtual void solveConstraint(btScalar timeStep)
{
//not yet
}

2
src/BulletDynamics/Vehicle/btVehicleRaycaster.h
View File

@@ -27,7 +27,7 @@ virtual ~btVehicleRaycaster()
btScalar m_distFraction;
};
virtual void* CastRay(const btVector3& from,const btVector3& to, btVehicleRaycasterResult& result) = 0;
virtual void* castRay(const btVector3& from,const btVector3& to, btVehicleRaycasterResult& result) = 0;
};

6
src/BulletDynamics/Vehicle/btWheelInfo.cpp
View File

@@ -12,14 +12,14 @@
#include "BulletDynamics/Dynamics/btRigidBody.h" // for pointvelocity
btScalar btWheelInfo::GetSuspensionRestLength() const
btScalar btWheelInfo::getSuspensionRestLength() const
{
return m_suspensionRestLength1;
}
void btWheelInfo::UpdateWheel(const btRigidBody& chassis,RaycastInfo& raycastInfo)
void btWheelInfo::updateWheel(const btRigidBody& chassis,RaycastInfo& raycastInfo)
{
@@ -47,7 +47,7 @@ void btWheelInfo::UpdateWheel(const btRigidBody& chassis,RaycastInfo& raycastInf
else // Not in contact : position wheel in a nice (rest length) position
{
m_raycastInfo.m_suspensionLength = this->GetSuspensionRestLength();
m_raycastInfo.m_suspensionLength = this->getSuspensionRestLength();
m_suspensionRelativeVelocity = 0.0f;
m_raycastInfo.m_contactNormalWS = -m_raycastInfo.m_wheelDirectionWS;
m_clippedInvContactDotSuspension = 1.0f;

4
src/BulletDynamics/Vehicle/btWheelInfo.h
View File

@@ -58,7 +58,7 @@ struct btWheelInfo
btVector3 m_wheelAxleCS; // const or modified by steering
btScalar m_suspensionRestLength1;//const
btScalar m_maxSuspensionTravelCm;
btScalar GetSuspensionRestLength() const;
btScalar getSuspensionRestLength() const;
btScalar m_wheelsRadius;//const
btScalar m_suspensionStiffness;//const
btScalar m_wheelsDampingCompression;//const
@@ -102,7 +102,7 @@ struct btWheelInfo
}
void UpdateWheel(const btRigidBody& chassis,RaycastInfo& raycastInfo);
void updateWheel(const btRigidBody& chassis,RaycastInfo& raycastInfo);
btScalar m_clippedInvContactDotSuspension;
btScalar m_suspensionRelativeVelocity;