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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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12
src/BulletDynamics/ConstraintSolver/btHingeConstraint.h
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@@ -26,7 +26,7 @@ class btRigidBody;
/// hinge constraint between two rigidbodies each with a pivotpoint that descibes the axis location in local space
/// axis defines the orientation of the hinge axis
class btHingeConstraint : public btTypedConstraint
ATTRIBUTE_ALIGNED16(class) btHingeConstraint : public btTypedConstraint
{
#ifdef IN_PARALLELL_SOLVER
public:
@@ -81,8 +81,12 @@ public:
virtual void getInfo1 (btConstraintInfo1* info);
void getInfo1NonVirtual(btConstraintInfo1* info);
virtual void getInfo2 (btConstraintInfo2* info);
void getInfo2NonVirtual(btConstraintInfo2* info,const btTransform& transA,const btTransform& transB,const btVector3& angVelA,const btVector3& angVelB);
virtual void solveConstraintObsolete(btSolverBody& bodyA,btSolverBody& bodyB,btScalar timeStep);
void updateRHS(btScalar timeStep);
@@ -174,7 +178,9 @@ public:
btScalar getHingeAngle();
void testLimit();
btScalar getHingeAngle(const btTransform& transA,const btTransform& transB);
void testLimit(const btTransform& transA,const btTransform& transB);
const btTransform& getAFrame() const { return m_rbAFrame; };