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some more fixes to get msvc6 happy, and constraint solver: make non-randomizing solver default

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ejcoumans
2006-11-23 02:57:38 +00:00
parent 94abde9287
commit 7dc6aa215a
3 changed files with 95 additions and 49 deletions
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54
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
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@@ -47,10 +47,47 @@ unsigned long btRand2()
return btSeed2;
}
//See ODE: adam's all-int straightforward(?) dRandInt (0..n-1)
int btRandInt2 (int n)
{
// seems good; xor-fold and modulus
const unsigned long un = n;
unsigned long r = btRand2();
// note: probably more aggressive than it needs to be -- might be
// able to get away without one or two of the innermost branches.
if (un <= 0x00010000UL) {
r ^= (r >> 16);
if (un <= 0x00000100UL) {
r ^= (r >> 8);
if (un <= 0x00000010UL) {
r ^= (r >> 4);
if (un <= 0x00000004UL) {
r ^= (r >> 2);
if (un <= 0x00000002UL) {
r ^= (r >> 1);
}
}
}
}
}
return (int) (r % un);
}
int btRandIntWrong (int n)
{
float a = float(n) / 4294967296.0f;
return (int) (float(btRand2()) * a);
// printf("n = %d\n",n);
// printf("a = %f\n",a);
int res = (int) (float(btRand2()) * a);
// printf("res=%d\n",res);
return res;
}
bool MyContactDestroyedCallback(void* userPersistentData)
@@ -63,14 +100,14 @@ bool MyContactDestroyedCallback(void* userPersistentData)
return true;
}
btSequentialImpulseConstraintSolver2::btSequentialImpulseConstraintSolver2()
btSequentialImpulseConstraintSolver3::btSequentialImpulseConstraintSolver3()
{
setSolverMode(SOLVER_USE_WARMSTARTING);
setSolverMode(SOLVER_RANDMIZE_ORDER);
}
btSequentialImpulseConstraintSolver::btSequentialImpulseConstraintSolver()
:m_solverMode(SOLVER_RANDMIZE_ORDER)
:m_solverMode(SOLVER_USE_WARMSTARTING)
{
gContactDestroyedCallback = &MyContactDestroyedCallback;
@@ -86,7 +123,7 @@ btSequentialImpulseConstraintSolver::btSequentialImpulseConstraintSolver()
}
/// btSequentialImpulseConstraintSolver Sequentially applies impulses
float btSequentialImpulseConstraintSolver::solveGroup(btPersistentManifold** manifoldPtr, int numManifolds,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer)
float btSequentialImpulseConstraintSolver3::solveGroup(btPersistentManifold** manifoldPtr, int numManifolds,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer)
{
btContactSolverInfo info = infoGlobal;
@@ -105,6 +142,7 @@ float btSequentialImpulseConstraintSolver::solveGroup(btPersistentManifold** man
{
btPersistentManifold* manifold = manifoldPtr[j];
prepareConstraints(manifold,info,debugDrawer);
for (int p=0;p<manifoldPtr[j]->getNumContacts();p++)
{
gOrder[totalPoints].m_manifoldIndex = j;
@@ -159,7 +197,7 @@ float btSequentialImpulseConstraintSolver::solveGroup(btPersistentManifold** man
/// btSequentialImpulseConstraintSolver Sequentially applies impulses
float btSequentialImpulseConstraintSolver2::solveGroup(btPersistentManifold** manifoldPtr, int numManifolds,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer)
float btSequentialImpulseConstraintSolver::solveGroup(btPersistentManifold** manifoldPtr, int numManifolds,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer)
{
btContactSolverInfo info = infoGlobal;
@@ -292,7 +330,9 @@ void btSequentialImpulseConstraintSolver::prepareConstraints(btPersistentManifol
} else
{
cpd = new btConstraintPersistentData();
cpd = new btConstraintPersistentData;
assert(cpd);
totalCpd ++;
//printf("totalCpd = %i Created Ptr %x\n",totalCpd,cpd);
cp.m_userPersistentData = cpd;

4
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
View File

@@ -82,11 +82,11 @@ public:
};
/// Small variation on btSequentialImpulseConstraintSolver: warmstarting, separate friction, non-randomized ordering
class btSequentialImpulseConstraintSolver2 : public btSequentialImpulseConstraintSolver
class btSequentialImpulseConstraintSolver3 : public btSequentialImpulseConstraintSolver
{
public:
btSequentialImpulseConstraintSolver2();
btSequentialImpulseConstraintSolver3();
virtual float solveGroup(btPersistentManifold** manifold,int numManifolds,const btContactSolverInfo& info, btIDebugDraw* debugDrawer=0);