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some doxygen updates, added some comments to classes, fix broken links, rename some prefix some internal GIMPACT collision structures using (for example use GIM_AABB instead of BT_AAABB),

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removed obsolete btGjkEpa (it was replaced by btGjkEpa2 ages ago)
This commit is contained in:
erwin.coumans
2008-11-04 04:01:31 +00:00
parent 2b21eb5605
commit bcd0f48c28
83 changed files with 208 additions and 1089 deletions
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2
src/BulletDynamics/ConstraintSolver/btContactConstraint.h
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@@ -16,7 +16,7 @@ subject to the following restrictions:
#ifndef CONTACT_CONSTRAINT_H
#define CONTACT_CONSTRAINT_H
//todo: make into a proper class working with the iterative constraint solver
///@todo: make into a proper class working with the iterative constraint solver
class btRigidBody;
#include "LinearMath/btVector3.h"

2
src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
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@@ -156,7 +156,7 @@ btScalar btRotationalLimitMotor::solveAngularLimits(
// clip correction impulse
btScalar clippedMotorImpulse;
//todo: should clip against accumulated impulse
///@todo: should clip against accumulated impulse
if (unclippedMotorImpulse>0.0f)
{
clippedMotorImpulse = unclippedMotorImpulse > maxMotorForce? maxMotorForce: unclippedMotorImpulse;

1
src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp
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@@ -323,7 +323,6 @@ void btHingeConstraint::solveConstraint(btScalar timeStep)
btScalar denom = getRigidBodyA().computeAngularImpulseDenominator(normal) +
getRigidBodyB().computeAngularImpulseDenominator(normal);
// scale for mass and relaxation
//todo: expose this 0.9 factor to developer
velrelOrthog *= (btScalar(1.)/denom) * m_relaxationFactor;
}

2
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
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@@ -840,7 +840,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
int numConstraintPool = m_tmpSolverConstraintPool.size();
int numFrictionPool = m_tmpSolverFrictionConstraintPool.size();
///todo: use stack allocator for such temporarily memory, same for solver bodies/constraints
///@todo: use stack allocator for such temporarily memory, same for solver bodies/constraints
m_orderTmpConstraintPool.resize(numConstraintPool);
m_orderFrictionConstraintPool.resize(numFrictionPool);
{

8
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
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@@ -23,10 +23,10 @@ class btIDebugDraw;
#include "btSolverConstraint.h"
/// btSequentialImpulseConstraintSolver uses a Propagation Method and Sequentially applies impulses
/// The approach is the 3D version of Erin Catto's GDC 2006 tutorial. See http://www.gphysics.com
/// Although Sequential Impulse is more intuitive, it is mathematically equivalent to Projected Successive Overrelaxation (iterative LCP)
/// Applies impulses for combined restitution and penetration recovery and to simulate friction
///The btSequentialImpulseConstraintSolver uses a Propagation Method and Sequentially applies impulses
///The approach is the 3D version of Erin Catto's GDC 2006 tutorial. See http://www.gphysics.com
///Although Sequential Impulse is more intuitive, it is mathematically equivalent to Projected Successive Overrelaxation (iterative LCP)
///Applies impulses for combined restitution and penetration recovery and to simulate friction
class btSequentialImpulseConstraintSolver : public btConstraintSolver
{

2
src/BulletDynamics/ConstraintSolver/btSolverBody.h
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@@ -24,7 +24,7 @@ class btRigidBody;
#include "LinearMath/btTransformUtil.h"
///btSolverBody is an internal datastructure for the constraint solver. Only necessary data is packed to increase cache coherence/performance.
///The btSolverBody is an internal datastructure for the constraint solver. Only necessary data is packed to increase cache coherence/performance.
ATTRIBUTE_ALIGNED16 (struct) btSolverBody
{
BT_DECLARE_ALIGNED_ALLOCATOR();

2
src/BulletDynamics/Dynamics/Bullet-C-API.cpp
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@@ -38,7 +38,7 @@ subject to the following restrictions:
#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkEpa.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h"
#include "BulletCollision/CollisionShapes/btMinkowskiSumShape.h"
#include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
#include "BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h"

8
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
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@@ -221,7 +221,7 @@ void btDiscreteDynamicsWorld::debugDrawWorld()
void btDiscreteDynamicsWorld::clearForces()
{
//todo: iterate over awake simulation islands!
///@todo: iterate over awake simulation islands!
for ( int i=0;i<m_collisionObjects.size();i++)
{
btCollisionObject* colObj = m_collisionObjects[i];
@@ -237,7 +237,7 @@ void btDiscreteDynamicsWorld::clearForces()
///apply gravity, call this once per timestep
void btDiscreteDynamicsWorld::applyGravity()
{
//todo: iterate over awake simulation islands!
///@todo: iterate over awake simulation islands!
for ( int i=0;i<m_collisionObjects.size();i++)
{
btCollisionObject* colObj = m_collisionObjects[i];
@@ -266,7 +266,7 @@ void btDiscreteDynamicsWorld::synchronizeMotionStates()
{
//we need to call the update at least once, even for sleeping objects
//otherwise the 'graphics' transform never updates properly
//so todo: add 'dirty' flag
///@todo: add 'dirty' flag
//if (body->getActivationState() != ISLAND_SLEEPING)
{
btTransform interpolatedTransform;
@@ -1106,7 +1106,7 @@ void btDiscreteDynamicsWorld::debugDrawObject(const btTransform& worldTransform,
{
btConcaveShape* concaveMesh = (btConcaveShape*) shape;
//todo pass camera, for some culling
///@todo pass camera, for some culling? no -> we are not a graphics lib
btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30));
btVector3 aabbMin(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30));

4
src/BulletDynamics/Dynamics/btRigidBody.h
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@@ -30,7 +30,7 @@ extern btScalar gDeactivationTime;
extern bool gDisableDeactivation;
///btRigidBody is the main class for rigid body objects. It is derived from btCollisionObject, so it keeps a pointer to a btCollisionShape.
///The btRigidBody is the main class for rigid body objects. It is derived from btCollisionObject, so it keeps a pointer to a btCollisionShape.
///It is recommended for performance and memory use to share btCollisionShape objects whenever possible.
///There are 3 types of rigid bodies:
///- A) Dynamic rigid bodies, with positive mass. Motion is controlled by rigid body dynamics.
@@ -74,7 +74,7 @@ class btRigidBody : public btCollisionObject
public:
///btRigidBodyConstructionInfo provides information to create a rigid body. Setting mass to zero creates a fixed (non-dynamic) rigid body.
///The btRigidBodyConstructionInfo structure provides information to create a rigid body. Setting mass to zero creates a fixed (non-dynamic) rigid body.
///For dynamic objects, you can use the collision shape to approximate the local inertia tensor, otherwise use the zero vector (default argument)
///You can use the motion state to synchronize the world transform between physics and graphics objects.
///And if the motion state is provided, the rigid body will initialize its initial world transform from the motion state,

4
src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp
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@@ -97,7 +97,7 @@ int btSimpleDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps, b
void btSimpleDynamicsWorld::clearForces()
{
//todo: iterate over awake simulation islands!
///@todo: iterate over awake simulation islands!
for ( int i=0;i<m_collisionObjects.size();i++)
{
btCollisionObject* colObj = m_collisionObjects[i];
@@ -210,7 +210,7 @@ void btSimpleDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
void btSimpleDynamicsWorld::synchronizeMotionStates()
{
//todo: iterate over awake simulation islands!
///@todo: iterate over awake simulation islands!
for ( int i=0;i<m_collisionObjects.size();i++)
{
btCollisionObject* colObj = m_collisionObjects[i];

2
src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h
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@@ -22,7 +22,7 @@ class btDispatcher;
class btOverlappingPairCache;
class btConstraintSolver;
///btSimpleDynamicsWorld serves as unit-test and to verify more complicated and optimized dynamics worlds.
///The btSimpleDynamicsWorld serves as unit-test and to verify more complicated and optimized dynamics worlds.
///Please use btDiscreteDynamicsWorld instead (or btContinuousDynamicsWorld once it is finished).
class btSimpleDynamicsWorld : public btDynamicsWorld
{

2
src/BulletDynamics/Vehicle/btRaycastVehicle.cpp
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@@ -188,7 +188,7 @@ btScalar btRaycastVehicle::rayCast(btWheelInfo& wheel)
wheel.m_raycastInfo.m_contactNormalWS = rayResults.m_hitNormalInWorld;
wheel.m_raycastInfo.m_isInContact = true;
wheel.m_raycastInfo.m_groundObject = &s_fixedObject;//todo for driving on dynamic/movable objects!;
wheel.m_raycastInfo.m_groundObject = &s_fixedObject;///@todo for driving on dynamic/movable objects!;
//wheel.m_raycastInfo.m_groundObject = object;