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quickstep improvements, thanks to Remotion

Browse Source 
http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1557
This commit is contained in:
ejcoumans
2007-10-11 03:07:11 +00:00
parent 118ac651dd
commit bb89cbcf08
4 changed files with 132 additions and 45 deletions
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31
Extras/quickstep/OdeConstraintSolver.h
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@@ -18,6 +18,11 @@ subject to the following restrictions:
#include "BulletDynamics/ConstraintSolver/btConstraintSolver.h"
#include "LinearMath/btAlignedObjectArray.h"
#include "OdeContactJoint.h"
#include "OdeTypedJoint.h"
#include "OdeSolverBody.h"
class btRigidBody;
struct OdeSolverBody;
class BU_Joint;
@@ -27,23 +32,31 @@ class BU_Joint;
class OdeConstraintSolver : public btConstraintSolver
{
private:
int m_CurBody;
int m_CurJoint;
int m_CurTypedJoint;
int m_CurBody;
int m_CurJoint;
int m_CurTypedJoint;
float m_cfm;
float m_erp;
btAlignedObjectArray<OdeSolverBody*> m_odeBodies;
btAlignedObjectArray<BU_Joint*> m_joints;
int ConvertBody(btRigidBody* body,OdeSolverBody** bodies,int& numBodies);
void ConvertConstraint(btPersistentManifold* manifold,BU_Joint** joints,int& numJoints,
OdeSolverBody** bodies,int _bodyId0,int _bodyId1,btIDebugDraw* debugDrawer);
btAlignedObjectArray<OdeSolverBody> m_SolverBodyArray;
btAlignedObjectArray<ContactJoint> m_JointArray;
btAlignedObjectArray<OdeTypedJoint> m_TypedJointArray;
int ConvertBody(btRigidBody* body,btAlignedObjectArray< OdeSolverBody*> &bodies,int& numBodies);
void ConvertConstraint(btPersistentManifold* manifold,
btAlignedObjectArray<BU_Joint*> &joints,int& numJoints,
const btAlignedObjectArray< OdeSolverBody*> &bodies,
int _bodyId0,int _bodyId1,btIDebugDraw* debugDrawer);
void ConvertTypedConstraint(
btTypedConstraint * constraint,BU_Joint** joints,int& numJoints,
OdeSolverBody** bodies,int _bodyId0,int _bodyId1,btIDebugDraw* debugDrawer);
btTypedConstraint * constraint,
btAlignedObjectArray<BU_Joint*> &joints,int& numJoints,
const btAlignedObjectArray< OdeSolverBody*> &bodies,int _bodyId0,int _bodyId1,btIDebugDraw* debugDrawer);
public: