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multidof4 patch

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This commit is contained in:
kubas
2014-01-09 00:26:24 +01:00
parent 75b8f7230d
commit 96ff69276f
12 changed files with 2661 additions and 428 deletions
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26
src/BulletDynamics/Featherstone/btMultiBodyConstraint.h
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@@ -28,8 +28,8 @@ struct btSolverInfo;
struct btMultiBodyJacobianData
{
btAlignedObjectArray<btScalar> m_jacobians;
btAlignedObjectArray<btScalar> m_deltaVelocitiesUnitImpulse;
btAlignedObjectArray<btScalar> m_deltaVelocities;
btAlignedObjectArray<btScalar> m_deltaVelocitiesUnitImpulse; //holds the joint-space response of the corresp. tree to the test impulse in each constraint space dimension
btAlignedObjectArray<btScalar> m_deltaVelocities; //holds joint-space vectors of all the constrained trees accumulating the effect of corrective impulses applied in SI
btAlignedObjectArray<btScalar> scratch_r;
btAlignedObjectArray<btVector3> scratch_v;
btAlignedObjectArray<btMatrix3x3> scratch_m;
@@ -48,10 +48,10 @@ protected:
int m_linkA;
int m_linkB;
int m_num_rows;
int m_jac_size_A;
int m_jac_size_both;
int m_pos_offset;
int m_numRows;
int m_jacSizeA;
int m_jacSizeBoth;
int m_posOffset;
bool m_isUnilateral;
@@ -99,7 +99,7 @@ public:
int getNumRows() const
{
return m_num_rows;
return m_numRows;
}
btMultiBody* getMultiBodyA()
@@ -116,12 +116,12 @@ public:
// NOTE: ignored position for friction rows.
btScalar getPosition(int row) const
{
return m_data[m_pos_offset + row];
return m_data[m_posOffset + row];
}
void setPosition(int row, btScalar pos)
{
m_data[m_pos_offset + row] = pos;
m_data[m_posOffset + row] = pos;
}
@@ -135,19 +135,19 @@ public:
// format: 3 'omega' coefficients, 3 'v' coefficients, then the 'qdot' coefficients.
btScalar* jacobianA(int row)
{
return &m_data[m_num_rows + row * m_jac_size_both];
return &m_data[m_numRows + row * m_jacSizeBoth];
}
const btScalar* jacobianA(int row) const
{
return &m_data[m_num_rows + (row * m_jac_size_both)];
return &m_data[m_numRows + (row * m_jacSizeBoth)];
}
btScalar* jacobianB(int row)
{
return &m_data[m_num_rows + (row * m_jac_size_both) + m_jac_size_A];
return &m_data[m_numRows + (row * m_jacSizeBoth) + m_jacSizeA];
}
const btScalar* jacobianB(int row) const
{
return &m_data[m_num_rows + (row * m_jac_size_both) + m_jac_size_A];
return &m_data[m_numRows + (row * m_jacSizeBoth) + m_jacSizeA];
}
btScalar getMaxAppliedImpulse() const