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re-introduce Bullet 2.x solver, in Bullet3Dynamics/ConstraintSolver/b3PgsJacobiSolver.*

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move b3Contact and b3RigidBody
This commit is contained in:
erwin coumans
2013-04-18 23:28:13 -07:00
parent 626f0cf1e3
commit 9ecd898c34
20 changed files with 3228 additions and 24 deletions
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42
src/Bullet3Collision/NarrowPhaseCollision/b3Contact4.h Normal file
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#ifndef BT_CONTACT4_H
#define BT_CONTACT4_H
#include "Bullet3Common/b3Vector3.h"
ATTRIBUTE_ALIGNED16(struct) b3Contact4
{
BT_DECLARE_ALIGNED_ALLOCATOR();
b3Vector3 m_worldPos[4];
b3Vector3 m_worldNormal;
// float m_restituitionCoeff;
// float m_frictionCoeff;
unsigned short m_restituitionCoeffCmp;
unsigned short m_frictionCoeffCmp;
int m_batchIdx;
int m_bodyAPtrAndSignBit;
int m_bodyBPtrAndSignBit;
int getBodyA()const {return abs(m_bodyAPtrAndSignBit);}
int getBodyB()const {return abs(m_bodyBPtrAndSignBit);}
bool isBodyAFixed()const { return m_bodyAPtrAndSignBit<0;}
bool isBodyBFixed()const { return m_bodyBPtrAndSignBit<0;}
// todo. make it safer
int& getBatchIdx() { return m_batchIdx; }
const int& getBatchIdx() const { return m_batchIdx; }
float getRestituitionCoeff() const { return ((float)m_restituitionCoeffCmp/(float)0xffff); }
void setRestituitionCoeff( float c ) { btAssert( c >= 0.f && c <= 1.f ); m_restituitionCoeffCmp = (unsigned short)(c*0xffff); }
float getFrictionCoeff() const { return ((float)m_frictionCoeffCmp/(float)0xffff); }
void setFrictionCoeff( float c ) { btAssert( c >= 0.f && c <= 1.f ); m_frictionCoeffCmp = (unsigned short)(c*0xffff); }
float& getNPoints() { return m_worldNormal[3]; }
float getNPoints() const { return m_worldNormal[3]; }
float getPenetration(int idx) const { return m_worldPos[idx][3]; }
bool isInvalid() const { return (getBodyA()==0 || getBodyB()==0); }
};
#endif //BT_CONTACT4_H

35
src/Bullet3Collision/NarrowPhaseCollision/b3RigidBodyCL.h Normal file
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#ifndef BT_RIGID_BODY_CL
#define BT_RIGID_BODY_CL
#include "Bullet3Common/b3Scalar.h"
#include "Bullet3Common/b3Matrix3x3.h"
ATTRIBUTE_ALIGNED16(struct) b3RigidBodyCL
{
BT_DECLARE_ALIGNED_ALLOCATOR();
b3Vector3 m_pos;
b3Quaternion m_quat;
b3Vector3 m_linVel;
b3Vector3 m_angVel;
int m_collidableIdx;
float m_invMass;
float m_restituitionCoeff;
float m_frictionCoeff;
float getInvMass() const
{
return m_invMass;
}
};
struct btInertiaCL
{
b3Matrix3x3 m_invInertiaWorld;
b3Matrix3x3 m_initInvInertia;
};
#endif//BT_RIGID_BODY_CL