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fixes: make argument names in header and cpp the same

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This commit is contained in:
Erwin Coumans
2018-03-27 16:54:41 -07:00
parent aae19514ac
commit 6856334d48
3 changed files with 22 additions and 22 deletions
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30
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
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@@ -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. 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. 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, Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely, including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions: 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. 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, void setupFrictionConstraint( btSolverConstraint& solverConstraint, const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,
btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2, 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, const btContactSolverInfo& infoGlobal,
btScalar desiredVelocity=0., btScalar cfmSlip=0.); btScalar desiredVelocity=0., btScalar cfmSlip=0.);
void setupTorsionalFrictionConstraint( btSolverConstraint& solverConstraint, const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB, void setupTorsionalFrictionConstraint( btSolverConstraint& solverConstraint, const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,
btManifoldPoint& cp,btScalar combinedTorsionalFriction, const btVector3& rel_pos1,const btVector3& rel_pos2, 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.); 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& 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); 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); const btContactSolverInfo& infoGlobal,btScalar& relaxation, const btVector3& rel_pos1, const btVector3& rel_pos2);
static void applyAnisotropicFriction(btCollisionObject* colObj,btVector3& frictionDirection, int frictionMode); 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); btManifoldPoint& cp, const btContactSolverInfo& infoGlobal);
///m_btSeed2 is used for re-arranging the constraint rows. improves convergence/quality of friction ///m_btSeed2 is used for re-arranging the constraint rows. improves convergence/quality of friction
unsigned long m_btSeed2; unsigned long m_btSeed2;
btScalar restitutionCurve(btScalar rel_vel, btScalar restitution, btScalar velocityThreshold); btScalar restitutionCurve(btScalar rel_vel, btScalar restitution, btScalar velocityThreshold);
virtual void convertContacts(btPersistentManifold** manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal); virtual void convertContacts(btPersistentManifold** manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal);
@@ -96,7 +96,7 @@ protected:
void convertContact(btPersistentManifold* manifold,const btContactSolverInfo& infoGlobal); void convertContact(btPersistentManifold* manifold,const btContactSolverInfo& infoGlobal);
virtual void convertJoints(btTypedConstraint** constraints,int numConstraints,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); virtual void convertBodies(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal);
@@ -122,9 +122,9 @@ protected:
{ {
return m_resolveSplitPenetrationImpulse( bodyA, bodyB, contactConstraint ); return m_resolveSplitPenetrationImpulse( bodyA, bodyB, contactConstraint );
} }
protected: protected:
void writeBackContacts(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal); void writeBackContacts(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal);
void writeBackJoints(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); void writeBackBodies(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal);
@@ -139,15 +139,15 @@ protected:
public: public:
BT_DECLARE_ALIGNED_ALLOCATOR(); BT_DECLARE_ALIGNED_ALLOCATOR();
btSequentialImpulseConstraintSolver(); btSequentialImpulseConstraintSolver();
virtual ~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); 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 ///clear internal cached data and reset random seed
virtual void reset(); virtual void reset();
unsigned long btRand2(); unsigned long btRand2();
int btRandInt2 (int n); int btRandInt2 (int n);
@@ -161,7 +161,7 @@ public:
return m_btSeed2; return m_btSeed2;
} }
virtual btConstraintSolverType getSolverType() const virtual btConstraintSolverType getSolverType() const
{ {
return BT_SEQUENTIAL_IMPULSE_SOLVER; return BT_SEQUENTIAL_IMPULSE_SOLVER;

2
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolverMt.cpp
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@@ -537,7 +537,7 @@ void btSequentialImpulseConstraintSolverMt::allocAllContactConstraints(btPersist
BT_PROFILE( "allocAllContactConstraints" ); BT_PROFILE( "allocAllContactConstraints" );
btAlignedObjectArray<btContactManifoldCachedInfo> cachedInfoArray; // = m_manifoldCachedInfoArray; btAlignedObjectArray<btContactManifoldCachedInfo> cachedInfoArray; // = m_manifoldCachedInfoArray;
cachedInfoArray.resizeNoInitialize( numManifolds ); cachedInfoArray.resizeNoInitialize( numManifolds );
if (false) if (/* DISABLES CODE */ (false))
{ {
// sequential // sequential
internalCollectContactManifoldCachedInfo(&cachedInfoArray[ 0 ], manifoldPtr, numManifolds, infoGlobal); internalCollectContactManifoldCachedInfo(&cachedInfoArray[ 0 ], manifoldPtr, numManifolds, infoGlobal);

12
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolverMt.h
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@@ -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. 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. 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, Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely, including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions: 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. 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: public:
BT_DECLARE_ALIGNED_ALLOCATOR(); BT_DECLARE_ALIGNED_ALLOCATOR();
btSequentialImpulseConstraintSolverMt(); btSequentialImpulseConstraintSolverMt();
virtual ~btSequentialImpulseConstraintSolverMt(); virtual ~btSequentialImpulseConstraintSolverMt();
@@ -136,11 +136,11 @@ public:
btScalar resolveMultipleContactSplitPenetrationImpulseConstraints( const btAlignedObjectArray<int>& consIndices, int batchBegin, int batchEnd ); btScalar resolveMultipleContactSplitPenetrationImpulseConstraints( const btAlignedObjectArray<int>& consIndices, int batchBegin, int batchEnd );
btScalar resolveMultipleContactFrictionConstraints( const btAlignedObjectArray<int>& consIndices, int batchBegin, int batchEnd ); btScalar resolveMultipleContactFrictionConstraints( const btAlignedObjectArray<int>& consIndices, int batchBegin, int batchEnd );
btScalar resolveMultipleContactRollingFrictionConstraints( const btAlignedObjectArray<int>& consIndices, int batchBegin, int batchEnd ); btScalar resolveMultipleContactRollingFrictionConstraints( const btAlignedObjectArray<int>& consIndices, int batchBegin, int batchEnd );
btScalar resolveMultipleContactConstraintsInterleaved( const btAlignedObjectArray<int>& consIndices, int batchBegin, int batchEnd ); btScalar resolveMultipleContactConstraintsInterleaved( const btAlignedObjectArray<int>& 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 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 internalConvertBodies(btCollisionObject** bodies, int iBegin, int iEnd, const btContactSolverInfo& infoGlobal);
void internalWriteBackContacts(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); void internalWriteBackJoints(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal);