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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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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;