Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

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

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

26
src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp
View File

@@ -43,6 +43,7 @@ m_useSolveConstraintObsolete(false)
void btPoint2PointConstraint::buildJacobian()
{
///we need it for both methods
{
m_appliedImpulse = btScalar(0.);
@@ -66,10 +67,15 @@ void btPoint2PointConstraint::buildJacobian()
}
}
}
void btPoint2PointConstraint::getInfo1 (btConstraintInfo1* info)
{
getInfo1NonVirtual(info);
}
void btPoint2PointConstraint::getInfo1NonVirtual (btConstraintInfo1* info)
{
if (m_useSolveConstraintObsolete)
{
@@ -82,22 +88,26 @@ void btPoint2PointConstraint::getInfo1 (btConstraintInfo1* info)
}
}
void btPoint2PointConstraint::getInfo2 (btConstraintInfo2* info)
{
getInfo2NonVirtual(info, m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform());
}
void btPoint2PointConstraint::getInfo2NonVirtual (btConstraintInfo2* info, const btTransform& body0_trans, const btTransform& body1_trans)
{
btAssert(!m_useSolveConstraintObsolete);
//retrieve matrices
btTransform body0_trans;
body0_trans = m_rbA.getCenterOfMassTransform();
btTransform body1_trans;
body1_trans = m_rbB.getCenterOfMassTransform();
// anchor points in global coordinates with respect to body PORs.
// set jacobian
info->m_J1linearAxis[0] = 1;
info->m_J1linearAxis[info->rowskip+1] = 1;
info->m_J1linearAxis[2*info->rowskip+2] = 1;
info->m_J1linearAxis[info->rowskip+1] = 1;
info->m_J1linearAxis[2*info->rowskip+2] = 1;
btVector3 a1 = body0_trans.getBasis()*getPivotInA();
{
@@ -150,6 +160,7 @@ void btPoint2PointConstraint::getInfo2 (btConstraintInfo2* info)
void btPoint2PointConstraint::solveConstraintObsolete(btSolverBody& bodyA,btSolverBody& bodyB,btScalar timeStep)
{
if (m_useSolveConstraintObsolete)
{
btVector3 pivotAInW = m_rbA.getCenterOfMassTransform()*m_pivotInA;
@@ -220,6 +231,7 @@ void btPoint2PointConstraint::solveConstraintObsolete(btSolverBody& bodyA,btSolv
normal[i] = 0;
}
}
}
void btPoint2PointConstraint::updateRHS(btScalar timeStep)