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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
View File

@@ -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;
}