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Add 1D and 2D support for Bullet: using rigidbody->angularFactor(const btVector3& factor) and body->setLinearFactor(const btVector3& linearFactor);

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For example, to only allow linear motion in the X-Z plane, and only rotation around Y axis use:
	body->setLinearFactor(btVector3(1,0,1));
	body->setAngularFactor(btVector3(0,1,0));
Fix build issues with CodeBlocks, when generating projectfiles using CMake 2.6:
${OPENGL_glU_LIBRARY} should be ${OPENGL_glu_LIBRARY}
Fix build issue with CodeBlocks, comment out xmlfree in Extras/COLLADA_DOM/src/modules/LIBXMLPlugin/daeLIBXMLPlugin.cpp (will leak memory)
This commit is contained in:
erwin.coumans
2009-03-08 04:14:17 +00:00
parent 3317f17270
commit 700db838b1
8 changed files with 91 additions and 77 deletions
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10
src/BulletMultiThreaded/SpuSolverTask/SpuParallellSolverTask.cpp
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@@ -224,14 +224,14 @@ static void setupSpuBody (btCollisionObject* collisionObject, btSolverBody* solv
if (rb)
{
solverBody->m_invMass = rb->getInvMass();
solverBody->m_invMass.setValue(rb->getInvMass(),rb->getInvMass(),rb->getInvMass());
solverBody->m_originalBody = rb;
solverBody->m_angularFactor = rb->getAngularFactor();
} else
{
solverBody->m_invMass = 0.f;
solverBody->m_invMass.setValue(0,0,0);
solverBody->m_originalBody = 0;
solverBody->m_angularFactor = 1.f;
solverBody->m_angularFactor.setValue(1,1,1);
}
}
@@ -439,8 +439,8 @@ static void SpuResolveSingleConstraintRowGeneric(btSolverBody& body1,btSolverBod
__m128 upperMinApplied = _mm_sub_ps(upperLimit1,cpAppliedImp);
deltaImpulse = _mm_or_ps( _mm_and_ps(resultUpperLess, deltaImpulse), _mm_andnot_ps(resultUpperLess, upperMinApplied) );
c.m_appliedImpulse = _mm_or_ps( _mm_and_ps(resultUpperLess, c.m_appliedImpulse), _mm_andnot_ps(resultUpperLess, upperLimit1) );
__m128 linearComponentA = _mm_mul_ps(c.m_contactNormal.mVec128,_mm_set1_ps(body1.m_invMass));
__m128 linearComponentB = _mm_mul_ps(c.m_contactNormal.mVec128,_mm_set1_ps(body2.m_invMass));
__m128 linearComponentA = _mm_mul_ps(c.m_contactNormal.mVec128,body1.m_invMass.mVec128);
__m128 linearComponentB = _mm_mul_ps(c.m_contactNormal.mVec128,body2.m_invMass.mVec128);
__m128 impulseMagnitude = deltaImpulse;
body1.m_deltaLinearVelocity.mVec128 = _mm_add_ps(body1.m_deltaLinearVelocity.mVec128,_mm_mul_ps(linearComponentA,impulseMagnitude));
body1.m_deltaAngularVelocity.mVec128 = _mm_add_ps(body1.m_deltaAngularVelocity.mVec128 ,_mm_mul_ps(c.m_angularComponentA.mVec128,impulseMagnitude));