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Minor constraint refactoring, to allow SPU-side processing for PLAYSTATION 3 (added non-virtual methods)

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Also comment-out some code for __SPU__ to reduce code size
Added btContactConstraint (only used on PS3 SPU right now, better to use btPersistentManifold directly for contact constraints)
Improved readblend utility library (see also usage in http://gamekit.googlecode.com with Irrlicht)

Fix for btConvexConvexAlgorithm, potential division by zero
Thanks linzner http://code.google.com/p/bullet/issues/detail?id=260
This commit is contained in:
erwin.coumans
2009-08-05 22:14:46 +00:00
parent b16f251530
commit 3e2529fcb5
21 changed files with 2980 additions and 2587 deletions
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123
src/BulletDynamics/ConstraintSolver/btContactConstraint.h
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@@ -16,107 +16,56 @@ subject to the following restrictions:
#ifndef CONTACT_CONSTRAINT_H
#define CONTACT_CONSTRAINT_H
///@todo: make into a proper class working with the iterative constraint solver
class btRigidBody;
#include "LinearMath/btVector3.h"
#include "LinearMath/btScalar.h"
struct btContactSolverInfo;
class btManifoldPoint;
#include "btJacobianEntry.h"
#include "btTypedConstraint.h"
#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
enum {
DEFAULT_CONTACT_SOLVER_TYPE=0,
CONTACT_SOLVER_TYPE1,
CONTACT_SOLVER_TYPE2,
USER_CONTACT_SOLVER_TYPE1,
MAX_CONTACT_SOLVER_TYPES
};
typedef btScalar (*ContactSolverFunc)(btRigidBody& body1,
btRigidBody& body2,
class btManifoldPoint& contactPoint,
const btContactSolverInfo& info);
///stores some extra information to each contact point. It is not in the contact point, because that want to keep the collision detection independent from the constraint solver.
struct btConstraintPersistentData
///btContactConstraint can be automatically created to solve contact constraints using the unified btTypedConstraint interface
ATTRIBUTE_ALIGNED16(class) btContactConstraint : public btTypedConstraint
{
inline btConstraintPersistentData()
:m_appliedImpulse(btScalar(0.)),
m_prevAppliedImpulse(btScalar(0.)),
m_accumulatedTangentImpulse0(btScalar(0.)),
m_accumulatedTangentImpulse1(btScalar(0.)),
m_jacDiagABInv(btScalar(0.)),
m_persistentLifeTime(0),
m_restitution(btScalar(0.)),
m_friction(btScalar(0.)),
m_penetration(btScalar(0.)),
m_contactSolverFunc(0),
m_frictionSolverFunc(0)
protected:
btPersistentManifold m_contactManifold;
public:
btContactConstraint();
btContactConstraint(btPersistentManifold* contactManifold,btRigidBody& rbA,btRigidBody& rbB);
void setContactManifold(btPersistentManifold* contactManifold);
btPersistentManifold* getContactManifold()
{
return &m_contactManifold;
}
/// total applied impulse during most recent frame
btScalar m_appliedImpulse;
btScalar m_prevAppliedImpulse;
btScalar m_accumulatedTangentImpulse0;
btScalar m_accumulatedTangentImpulse1;
btScalar m_jacDiagABInv;
btScalar m_jacDiagABInvTangent0;
btScalar m_jacDiagABInvTangent1;
int m_persistentLifeTime;
btScalar m_restitution;
btScalar m_friction;
btScalar m_penetration;
btVector3 m_frictionWorldTangential0;
btVector3 m_frictionWorldTangential1;
btVector3 m_frictionAngularComponent0A;
btVector3 m_frictionAngularComponent0B;
btVector3 m_frictionAngularComponent1A;
btVector3 m_frictionAngularComponent1B;
const btPersistentManifold* getContactManifold() const
{
return &m_contactManifold;
}
//some data doesn't need to be persistent over frames: todo: clean/reuse this
btVector3 m_angularComponentA;
btVector3 m_angularComponentB;
ContactSolverFunc m_contactSolverFunc;
ContactSolverFunc m_frictionSolverFunc;
virtual ~btContactConstraint();
virtual void getInfo1 (btConstraintInfo1* info);
virtual void getInfo2 (btConstraintInfo2* info);
///obsolete methods
virtual void buildJacobian();
///obsolete methods
virtual void solveConstraintObsolete(btSolverBody& bodyA,btSolverBody& bodyB,btScalar timeStep);
};
///bilateral constraint between two dynamic objects
///positive distance = separation, negative distance = penetration
///resolveSingleBilateral is an obsolete methods used for vehicle friction between two dynamic objects
void resolveSingleBilateral(btRigidBody& body1, const btVector3& pos1,
btRigidBody& body2, const btVector3& pos2,
btScalar distance, const btVector3& normal,btScalar& impulse ,btScalar timeStep);
///contact constraint resolution:
///calculate and apply impulse to satisfy non-penetration and non-negative relative velocity constraint
///positive distance = separation, negative distance = penetration
btScalar resolveSingleCollision(
btRigidBody& body1,
btRigidBody& body2,
btManifoldPoint& contactPoint,
const btContactSolverInfo& info);
btScalar resolveSingleFriction(
btRigidBody& body1,
btRigidBody& body2,
btManifoldPoint& contactPoint,
const btContactSolverInfo& solverInfo
);
btScalar resolveSingleCollisionCombined(
btRigidBody& body1,
btRigidBody& body2,
btManifoldPoint& contactPoint,
const btContactSolverInfo& solverInfo
);
#endif //CONTACT_CONSTRAINT_H