From 6856334d4891f99642428cc6c38bbdfac3bc3bc8 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Tue, 27 Mar 2018 16:54:41 -0700 Subject: [PATCH] fixes: make argument names in header and cpp the same --- .../btSequentialImpulseConstraintSolver.h | 30 +++++++++---------- .../btSequentialImpulseConstraintSolverMt.cpp | 2 +- .../btSequentialImpulseConstraintSolverMt.h | 12 ++++---- 3 files changed, 22 insertions(+), 22 deletions(-) diff --git a/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h b/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h index 8c9c67f85..c853aed77 100644 --- a/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h +++ b/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h @@ -4,8 +4,8 @@ Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ This software is provided 'as-is', without any express or implied warranty. In no event will the authors be held liable for any damages arising from the use of this software. -Permission is granted to anyone to use this software for any purpose, -including commercial applications, and to alter it and redistribute it freely, +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, subject to the following restrictions: 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. @@ -64,31 +64,31 @@ protected: void setupFrictionConstraint( btSolverConstraint& solverConstraint, const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB, btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2, - btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, + btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity=0., btScalar cfmSlip=0.); void setupTorsionalFrictionConstraint( btSolverConstraint& solverConstraint, const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB, btManifoldPoint& cp,btScalar combinedTorsionalFriction, const btVector3& rel_pos1,const btVector3& rel_pos2, - btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, + btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, btScalar desiredVelocity=0., btScalar cfmSlip=0.); btSolverConstraint& addFrictionConstraint(const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,int frictionIndex,btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity=0., btScalar cfmSlip=0.); btSolverConstraint& addTorsionalFrictionConstraint(const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,int frictionIndex,btManifoldPoint& cp,btScalar torsionalFriction, const btVector3& rel_pos1,const btVector3& rel_pos2,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, btScalar desiredVelocity=0, btScalar cfmSlip=0.f); - - void setupContactConstraint(btSolverConstraint& solverConstraint, int solverBodyIdA, int solverBodyIdB, btManifoldPoint& cp, + + void setupContactConstraint(btSolverConstraint& solverConstraint, int solverBodyIdA, int solverBodyIdB, btManifoldPoint& cp, const btContactSolverInfo& infoGlobal,btScalar& relaxation, const btVector3& rel_pos1, const btVector3& rel_pos2); static void applyAnisotropicFriction(btCollisionObject* colObj,btVector3& frictionDirection, int frictionMode); - void setFrictionConstraintImpulse( btSolverConstraint& solverConstraint, int solverBodyIdA,int solverBodyIdB, + void setFrictionConstraintImpulse( btSolverConstraint& solverConstraint, int solverBodyIdA,int solverBodyIdB, btManifoldPoint& cp, const btContactSolverInfo& infoGlobal); ///m_btSeed2 is used for re-arranging the constraint rows. improves convergence/quality of friction unsigned long m_btSeed2; - + btScalar restitutionCurve(btScalar rel_vel, btScalar restitution, btScalar velocityThreshold); virtual void convertContacts(btPersistentManifold** manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal); @@ -96,7 +96,7 @@ protected: void convertContact(btPersistentManifold* manifold,const btContactSolverInfo& infoGlobal); virtual void convertJoints(btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal); - void convertJoint(btSolverConstraint* destConstraintRow, btTypedConstraint* srcConstraint, const btTypedConstraint::btConstraintInfo1& info1, int solverBodyIdA, int solverBodyIdB, const btContactSolverInfo& infoGlobal); + void convertJoint(btSolverConstraint* currentConstraintRow, btTypedConstraint* constraint, const btTypedConstraint::btConstraintInfo1& info1, int solverBodyIdA, int solverBodyIdB, const btContactSolverInfo& infoGlobal); virtual void convertBodies(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal); @@ -122,9 +122,9 @@ protected: { return m_resolveSplitPenetrationImpulse( bodyA, bodyB, contactConstraint ); } - + protected: - + void writeBackContacts(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal); void writeBackJoints(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal); void writeBackBodies(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal); @@ -139,15 +139,15 @@ protected: public: BT_DECLARE_ALIGNED_ALLOCATOR(); - + btSequentialImpulseConstraintSolver(); virtual ~btSequentialImpulseConstraintSolver(); virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer,btDispatcher* dispatcher); - + ///clear internal cached data and reset random seed virtual void reset(); - + unsigned long btRand2(); int btRandInt2 (int n); @@ -161,7 +161,7 @@ public: return m_btSeed2; } - + virtual btConstraintSolverType getSolverType() const { return BT_SEQUENTIAL_IMPULSE_SOLVER; diff --git a/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolverMt.cpp b/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolverMt.cpp index 4ccf7b247..82a719a3e 100644 --- a/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolverMt.cpp +++ b/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolverMt.cpp @@ -537,7 +537,7 @@ void btSequentialImpulseConstraintSolverMt::allocAllContactConstraints(btPersist BT_PROFILE( "allocAllContactConstraints" ); btAlignedObjectArray cachedInfoArray; // = m_manifoldCachedInfoArray; cachedInfoArray.resizeNoInitialize( numManifolds ); - if (false) + if (/* DISABLES CODE */ (false)) { // sequential internalCollectContactManifoldCachedInfo(&cachedInfoArray[ 0 ], manifoldPtr, numManifolds, infoGlobal); diff --git a/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolverMt.h b/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolverMt.h index 0577d8d2d..55d53474c 100644 --- a/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolverMt.h +++ b/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolverMt.h @@ -4,8 +4,8 @@ Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ This software is provided 'as-is', without any express or implied warranty. In no event will the authors be held liable for any damages arising from the use of this software. -Permission is granted to anyone to use this software for any purpose, -including commercial applications, and to alter it and redistribute it freely, +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, subject to the following restrictions: 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. @@ -127,7 +127,7 @@ protected: public: BT_DECLARE_ALIGNED_ALLOCATOR(); - + btSequentialImpulseConstraintSolverMt(); virtual ~btSequentialImpulseConstraintSolverMt(); @@ -136,11 +136,11 @@ public: btScalar resolveMultipleContactSplitPenetrationImpulseConstraints( const btAlignedObjectArray& consIndices, int batchBegin, int batchEnd ); btScalar resolveMultipleContactFrictionConstraints( const btAlignedObjectArray& consIndices, int batchBegin, int batchEnd ); btScalar resolveMultipleContactRollingFrictionConstraints( const btAlignedObjectArray& consIndices, int batchBegin, int batchEnd ); - btScalar resolveMultipleContactConstraintsInterleaved( const btAlignedObjectArray& consIndices, int batchBegin, int batchEnd ); + btScalar resolveMultipleContactConstraintsInterleaved( const btAlignedObjectArray& contactIndices, int batchBegin, int batchEnd ); - void internalCollectContactManifoldCachedInfo(btContactManifoldCachedInfo* cachedInfoArray, btPersistentManifold** manifold, int numManifolds, const btContactSolverInfo& infoGlobal); + void internalCollectContactManifoldCachedInfo(btContactManifoldCachedInfo* cachedInfoArray, btPersistentManifold** manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal); void internalAllocContactConstraints(const btContactManifoldCachedInfo* cachedInfoArray, int numManifolds); - void internalSetupContactConstraints(int iContact, const btContactSolverInfo& infoGlobal); + void internalSetupContactConstraints(int iContactConstraint, const btContactSolverInfo& infoGlobal); void internalConvertBodies(btCollisionObject** bodies, int iBegin, int iEnd, const btContactSolverInfo& infoGlobal); void internalWriteBackContacts(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal); void internalWriteBackJoints(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal);