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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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54
src/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp
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@@ -126,6 +126,7 @@ void btSliderConstraint::buildJacobian()
void btSliderConstraint::buildJacobianInt(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB)
{
#ifndef __SPU__
//calculate transforms
m_calculatedTransformA = rbA.getCenterOfMassTransform() * frameInA;
m_calculatedTransformB = rbB.getCenterOfMassTransform() * frameInB;
@@ -175,10 +176,10 @@ void btSliderConstraint::buildJacobianInt(btRigidBody& rbA, btRigidBody& rbB, co
// clear accumulator for motors
m_accumulatedLinMotorImpulse = btScalar(0.0);
m_accumulatedAngMotorImpulse = btScalar(0.0);
#endif //__SPU__
}
void btSliderConstraint::getInfo1(btConstraintInfo1* info)
{
if (m_useSolveConstraintObsolete)
@@ -191,7 +192,7 @@ void btSliderConstraint::getInfo1(btConstraintInfo1* info)
info->m_numConstraintRows = 4; // Fixed 2 linear + 2 angular
info->nub = 2;
//prepare constraint
calculateTransforms();
calculateTransforms(m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform());
testLinLimits();
if(getSolveLinLimit() || getPoweredLinMotor())
{
@@ -207,14 +208,34 @@ void btSliderConstraint::getInfo1(btConstraintInfo1* info)
}
}
void btSliderConstraint::getInfo1NonVirtual(btConstraintInfo1* info)
{
info->m_numConstraintRows = 6; // Fixed 2 linear + 2 angular + 1 limit (even if not used)
info->nub = 0;
}
void btSliderConstraint::getInfo2(btConstraintInfo2* info)
{
btAssert(!m_useSolveConstraintObsolete);
int i, s = info->rowskip;
const btTransform& trA = getCalculatedTransformA();
const btTransform& trB = getCalculatedTransformB();
getInfo2NonVirtual(info,m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform(), m_rbA.getLinearVelocity(),m_rbB.getLinearVelocity(), m_rbA.getInvMass(),m_rbB.getInvMass());
}
void btSliderConstraint::getInfo2NonVirtual(btConstraintInfo2* info, const btTransform& transA,const btTransform& transB, const btVector3& linVelA,const btVector3& linVelB, btScalar rbAinvMass,btScalar rbBinvMass )
{
//prepare constraint
calculateTransforms(transA,transB);
testLinLimits();
testAngLimits();
const btTransform& trA = getCalculatedTransformA();
const btTransform& trB = getCalculatedTransformB();
btAssert(!m_useSolveConstraintObsolete);
int i, s = info->rowskip;
btScalar signFact = m_useLinearReferenceFrameA ? btScalar(1.0f) : btScalar(-1.0f);
// make rotations around Y and Z equal
// the slider axis should be the only unconstrained
@@ -269,12 +290,12 @@ void btSliderConstraint::getInfo2(btConstraintInfo2* info)
// result in three equations, so we project along the planespace vectors
// so that sliding along the slider axis is disregarded. for symmetry we
// also consider rotation around center of mass of two bodies (factA and factB).
btTransform bodyA_trans = m_rbA.getCenterOfMassTransform();
btTransform bodyB_trans = m_rbB.getCenterOfMassTransform();
btTransform bodyA_trans = transA;
btTransform bodyB_trans = transB;
int s2 = 2 * s, s3 = 3 * s;
btVector3 c;
btScalar miA = m_rbA.getInvMass();
btScalar miB = m_rbB.getInvMass();
btScalar miA = rbAinvMass;
btScalar miB = rbBinvMass;
btScalar miS = miA + miB;
btScalar factA, factB;
if(miS > btScalar(0.f))
@@ -389,8 +410,8 @@ void btSliderConstraint::getInfo2(btConstraintInfo2* info)
btScalar bounce = btFabs(btScalar(1.0) - getDampingLimLin());
if(bounce > btScalar(0.0))
{
btScalar vel = m_rbA.getLinearVelocity().dot(ax1);
vel -= m_rbB.getLinearVelocity().dot(ax1);
btScalar vel = linVelA.dot(ax1);
vel -= linVelB.dot(ax1);
vel *= signFact;
// only apply bounce if the velocity is incoming, and if the
// resulting c[] exceeds what we already have.
@@ -539,6 +560,7 @@ void btSliderConstraint::solveConstraintObsolete(btSolverBody& bodyA,btSolverBod
void btSliderConstraint::solveConstraintInt(btRigidBody& rbA, btSolverBody& bodyA,btRigidBody& rbB, btSolverBody& bodyB)
{
#ifndef __SPU__
int i;
// linear
btVector3 velA;
@@ -719,22 +741,24 @@ void btSliderConstraint::solveConstraintInt(btRigidBody& rbA, btSolverBody& body
bodyB.applyImpulse(btVector3(0,0,0), rbB.getInvInertiaTensorWorld()*axisA,-angImpulse);
}
}
#endif //__SPU__
}
void btSliderConstraint::calculateTransforms(void){
void btSliderConstraint::calculateTransforms(const btTransform& transA,const btTransform& transB)
{
if(m_useLinearReferenceFrameA || (!m_useSolveConstraintObsolete))
{
m_calculatedTransformA = m_rbA.getCenterOfMassTransform() * m_frameInA;
m_calculatedTransformB = m_rbB.getCenterOfMassTransform() * m_frameInB;
m_calculatedTransformA = transA * m_frameInA;
m_calculatedTransformB = transB * m_frameInB;
}
else
{
m_calculatedTransformA = m_rbB.getCenterOfMassTransform() * m_frameInB;
m_calculatedTransformB = m_rbA.getCenterOfMassTransform() * m_frameInA;
m_calculatedTransformA = transB * m_frameInB;
m_calculatedTransformB = transA * m_frameInA;
}
m_realPivotAInW = m_calculatedTransformA.getOrigin();
m_realPivotBInW = m_calculatedTransformB.getOrigin();