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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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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)
{
}