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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();