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updated Bullet sequential impulse constraint solver, so it matches 100% ODE PGS quickstep solver innerloop, mainly by renaming variables...

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This commit is contained in:
erwin.coumans
2008-11-26 00:27:35 +00:00
parent 09aa2dbbe7
commit 82047e601e
28 changed files with 646 additions and 1135 deletions
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16
src/BulletDynamics/ConstraintSolver/btJacobianEntry.h
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@@ -34,8 +34,6 @@ public:
btJacobianEntry() {};
//constraint between two different rigidbodies
btJacobianEntry(
const btMatrix3x3& world2A,
const btMatrix3x3& world2B,
const btVector3& rel_pos1,const btVector3& rel_pos2,
const btVector3& jointAxis,
const btVector3& inertiaInvA,
@@ -44,8 +42,8 @@ public:
const btScalar massInvB)
:m_linearJointAxis(jointAxis)
{
m_aJ = world2A*(rel_pos1.cross(m_linearJointAxis));
m_bJ = world2B*(rel_pos2.cross(-m_linearJointAxis));
m_aJ = (rel_pos1.cross(m_linearJointAxis));
m_bJ = (rel_pos2.cross(-m_linearJointAxis));
m_0MinvJt = inertiaInvA * m_aJ;
m_1MinvJt = inertiaInvB * m_bJ;
m_Adiag = massInvA + m_0MinvJt.dot(m_aJ) + massInvB + m_1MinvJt.dot(m_bJ);
@@ -61,8 +59,8 @@ public:
const btVector3& inertiaInvB)
:m_linearJointAxis(btVector3(btScalar(0.),btScalar(0.),btScalar(0.)))
{
m_aJ= world2A*jointAxis;
m_bJ = world2B*-jointAxis;
m_aJ= jointAxis;
m_bJ = -jointAxis;
m_0MinvJt = inertiaInvA * m_aJ;
m_1MinvJt = inertiaInvB * m_bJ;
m_Adiag = m_0MinvJt.dot(m_aJ) + m_1MinvJt.dot(m_bJ);
@@ -95,8 +93,8 @@ public:
const btScalar massInvA)
:m_linearJointAxis(jointAxis)
{
m_aJ= world2A*(rel_pos1.cross(jointAxis));
m_bJ = world2A*(rel_pos2.cross(-jointAxis));
m_aJ= (rel_pos1.cross(jointAxis));
m_bJ = (rel_pos2.cross(-jointAxis));
m_0MinvJt = inertiaInvA * m_aJ;
m_1MinvJt = btVector3(btScalar(0.),btScalar(0.),btScalar(0.));
m_Adiag = massInvA + m_0MinvJt.dot(m_aJ);
@@ -130,7 +128,7 @@ public:
return sum[0]+sum[1]+sum[2];
}
btScalar getRelativeVelocity(const btVector3& linvelA,const btVector3& angvelA,const btVector3& linvelB,const btVector3& angvelB)
btScalar getRelativeVelocity(const btVector3& linvelA,const btVector3& angvelA,const btVector3& linvelB,const btVector3& angvelB) const
{
btVector3 linrel = linvelA - linvelB;
btVector3 angvela = angvelA * m_aJ;