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Some more minor improvements for PS3 SPU version

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This commit is contained in:
erwin.coumans
2009-08-06 20:03:09 +00:00
parent 709f981390
commit 5d2cf447e4
3 changed files with 48 additions and 10 deletions
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20
src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp
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@@ -163,7 +163,7 @@ void btConeTwistConstraint::getInfo2NonVirtual (btConstraintInfo2* info,const bt
btScalar *J2 = info->m_J2angularAxis;
if((m_swingSpan1 < m_fixThresh) && (m_swingSpan2 < m_fixThresh))
{
btTransform trA = m_rbA.getCenterOfMassTransform()*m_rbAFrame;
btTransform trA = transA*m_rbAFrame;
btVector3 p = trA.getBasis().getColumn(1);
btVector3 q = trA.getBasis().getColumn(2);
int srow1 = srow + info->rowskip;
@@ -296,6 +296,7 @@ void btConeTwistConstraint::buildJacobian()
void btConeTwistConstraint::solveConstraintObsolete(btSolverBody& bodyA,btSolverBody& bodyB,btScalar timeStep)
{
#ifndef __SPU__
if (m_useSolveConstraintObsolete)
{
btVector3 pivotAInW = m_rbA.getCenterOfMassTransform()*m_rbAFrame.getOrigin();
@@ -502,11 +503,14 @@ void btConeTwistConstraint::solveConstraintObsolete(btSolverBody& bodyA,btSolver
}
}
}
#else
btAssert(0);
#endif //__SPU__
}
void btConeTwistConstraint::updateRHS(btScalar timeStep)
{
(void)timeStep;
@@ -514,7 +518,7 @@ void btConeTwistConstraint::updateRHS(btScalar timeStep)
}
#ifndef __SPU__
void btConeTwistConstraint::calcAngleInfo()
{
m_swingCorrection = btScalar(0.);
@@ -600,7 +604,7 @@ void btConeTwistConstraint::calcAngleInfo()
}
}
}
#endif //__SPU__
static btVector3 vTwist(1,0,0); // twist axis in constraint's space
@@ -677,8 +681,8 @@ void btConeTwistConstraint::calcAngleInfo2(const btTransform& transA, const btTr
m_twistAxisA.setValue(0,0,0);
m_kSwing = btScalar(1.) /
(getRigidBodyA().computeAngularImpulseDenominator(m_swingAxis) +
getRigidBodyB().computeAngularImpulseDenominator(m_swingAxis));
(computeAngularImpulseDenominator(m_swingAxis,invInertiaWorldA) +
computeAngularImpulseDenominator(m_swingAxis,invInertiaWorldB));
}
}
else
@@ -780,8 +784,8 @@ void btConeTwistConstraint::calcAngleInfo2(const btTransform& transA, const btTr
m_twistAxis = quatRotate(qB, -twistAxis);
m_kTwist = btScalar(1.) /
(getRigidBodyA().computeAngularImpulseDenominator(m_twistAxis) +
getRigidBodyB().computeAngularImpulseDenominator(m_twistAxis));
(computeAngularImpulseDenominator(m_twistAxis,invInertiaWorldA) +
computeAngularImpulseDenominator(m_twistAxis,invInertiaWorldB));
}
if (m_solveSwingLimit)

34
src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp
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@@ -461,11 +461,22 @@ void btHingeConstraint::getInfo1NonVirtual(btConstraintInfo1* info)
void btHingeConstraint::getInfo2 (btConstraintInfo2* info)
{
getInfo2NonVirtual(info, m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform(),m_rbA.getAngularVelocity(),m_rbB.getAngularVelocity());
getInfo2Internal(info, m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform(),m_rbA.getAngularVelocity(),m_rbB.getAngularVelocity());
}
void btHingeConstraint::getInfo2NonVirtual (btConstraintInfo2* info,const btTransform& transA,const btTransform& transB,const btVector3& angVelA,const btVector3& angVelB)
{
///the regular (virtual) implementation getInfo2 already performs 'testLimit' during getInfo1, so we need to do it now
testLimit(transA,transB);
getInfo2Internal(info,transA,transB,angVelA,angVelB);
}
void btHingeConstraint::getInfo2Internal(btConstraintInfo2* info, const btTransform& transA,const btTransform& transB,const btVector3& angVelA,const btVector3& angVelB)
{
btAssert(!m_useSolveConstraintObsolete);
int i, skip = info->rowskip;
// transforms in world space
@@ -474,7 +485,27 @@ void btHingeConstraint::getInfo2NonVirtual (btConstraintInfo2* info, const btTra
// pivot point
btVector3 pivotAInW = trA.getOrigin();
btVector3 pivotBInW = trB.getOrigin();
#if 0
if (0)
{
for (i=0;i<6;i++)
{
info->m_J1linearAxis[i*skip]=0;
info->m_J1linearAxis[i*skip+1]=0;
info->m_J1linearAxis[i*skip+2]=0;
info->m_J1angularAxis[i*skip]=0;
info->m_J1angularAxis[i*skip+1]=0;
info->m_J1angularAxis[i*skip+2]=0;
info->m_J2angularAxis[i*skip]=0;
info->m_J2angularAxis[i*skip+1]=0;
info->m_J2angularAxis[i*skip+2]=0;
info->m_constraintError[i*skip]=0.f;
}
}
#endif //#if 0
// linear (all fixed)
info->m_J1linearAxis[0] = 1;
info->m_J1linearAxis[skip + 1] = 1;
@@ -483,6 +514,7 @@ void btHingeConstraint::getInfo2NonVirtual (btConstraintInfo2* info, const btTra
btVector3 a1 = pivotAInW - transA.getOrigin();
{
btVector3* angular0 = (btVector3*)(info->m_J1angularAxis);

2
src/BulletDynamics/ConstraintSolver/btHingeConstraint.h
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@@ -87,6 +87,8 @@ public:
void getInfo2NonVirtual(btConstraintInfo2* info,const btTransform& transA,const btTransform& transB,const btVector3& angVelA,const btVector3& angVelB);
void getInfo2Internal(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);