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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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14
src/BulletDynamics/ConstraintSolver/btSliderConstraint.h
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@@ -131,9 +131,13 @@ public:
// overrides
virtual void buildJacobian();
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& linVelA,const btVector3& linVelB, btScalar rbAinvMass,btScalar rbBinvMass);
virtual void solveConstraintObsolete(btSolverBody& bodyA,btSolverBody& bodyB,btScalar timeStep);
@@ -215,13 +219,13 @@ public:
void buildJacobianInt(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB);
void solveConstraintInt(btRigidBody& rbA, btSolverBody& bodyA,btRigidBody& rbB, btSolverBody& bodyB);
// shared code used by ODE solver
void calculateTransforms(void);
void testLinLimits(void);
void calculateTransforms(const btTransform& transA,const btTransform& transB);
void testLinLimits();
void testLinLimits2(btConstraintInfo2* info);
void testAngLimits(void);
void testAngLimits();
// access for PE Solver
btVector3 getAncorInA(void);
btVector3 getAncorInB(void);
btVector3 getAncorInA();
btVector3 getAncorInB();
};