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Deltas of linear and angular velocities applied to rigid bodies now are kept between simulation steps.

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Read-only access functions added to btRigidBody to get these values
Several OpenCL functions are implemented for MiniCL
This commit is contained in:
rponom
2010-03-17 19:06:59 +00:00
parent 9de41ddd7a
commit b409abac09
4 changed files with 113 additions and 9 deletions
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29
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
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@@ -732,7 +732,7 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
}
btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCollisionObject** /*bodies */,int /*numBodies */,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc)
btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc)
{
BT_PROFILE("solveGroupCacheFriendlySetup");
(void)stackAlloc;
@@ -745,6 +745,33 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
return 0.f;
}
if (infoGlobal.m_splitImpulse)
{
for (int i = 0; i < numBodies; i++)
{
btRigidBody* body = btRigidBody::upcast(bodies[i]);
if (body)
{
body->internalGetDeltaLinearVelocity().setZero();
body->internalGetDeltaAngularVelocity().setZero();
body->internalGetPushVelocity().setZero();
body->internalGetTurnVelocity().setZero();
}
}
}
else
{
for (int i = 0; i < numBodies; i++)
{
btRigidBody* body = btRigidBody::upcast(bodies[i]);
if (body)
{
body->internalGetDeltaLinearVelocity().setZero();
body->internalGetDeltaAngularVelocity().setZero();
}
}
}
if (1)
{
int j;

8
src/BulletDynamics/Dynamics/btRigidBody.cpp
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@@ -328,10 +328,10 @@ void btRigidBody::internalWritebackVelocity(btScalar timeStep)
setWorldTransform(newTransform);
//m_originalBody->setCompanionId(-1);
}
m_deltaLinearVelocity.setZero();
m_deltaAngularVelocity .setZero();
m_pushVelocity.setZero();
m_turnVelocity.setZero();
// m_deltaLinearVelocity.setZero();
// m_deltaAngularVelocity .setZero();
// m_pushVelocity.setZero();
// m_turnVelocity.setZero();
}

24
src/BulletDynamics/Dynamics/btRigidBody.h
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@@ -519,6 +519,26 @@ public:
return m_rigidbodyFlags;
}
const btVector3& getDeltaLinearVelocity() const
{
return m_deltaLinearVelocity;
}
const btVector3& getDeltaAngularVelocity() const
{
return m_deltaAngularVelocity;
}
const btVector3& getPushVelocity() const
{
return m_pushVelocity;
}
const btVector3& getTurnVelocity() const
{
return m_turnVelocity;
}
////////////////////////////////////////////////
///some internal methods, don't use them
@@ -589,8 +609,8 @@ public:
{
setLinearVelocity(getLinearVelocity()+ m_deltaLinearVelocity);
setAngularVelocity(getAngularVelocity()+m_deltaAngularVelocity);
m_deltaLinearVelocity.setZero();
m_deltaAngularVelocity .setZero();
//m_deltaLinearVelocity.setZero();
//m_deltaAngularVelocity .setZero();
//m_originalBody->setCompanionId(-1);
}
}