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fixed some merging conflicts

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This commit is contained in:
ejcoumans
2006-09-27 20:58:49 +00:00
parent eb23bb5c0c
commit d0f09040e9
8 changed files with 42 additions and 655 deletions
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130
src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp
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@@ -1,123 +1,17 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
#include "btSimpleDynamicsWorld.h"
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
#include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.h"
#include "BulletCollision/CollisionShapes/btCollisionShape.h"
#include "BulletDynamics/Dynamics/btRigidBody.h"
#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h"
#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
btSimpleDynamicsWorld::btSimpleDynamicsWorld()
:btDynamicsWorld(new CollisionDispatcher(),new SimpleBroadphase()),
m_constraintSolver(new SequentialImpulseConstraintSolver)
{
}
btSimpleDynamicsWorld::btSimpleDynamicsWorld(Dispatcher* dispatcher,OverlappingPairCache* pairCache,ConstraintSolver* constraintSolver)
:btDynamicsWorld(dispatcher,pairCache),
m_constraintSolver(constraintSolver)
{
}
btSimpleDynamicsWorld::~btSimpleDynamicsWorld()
{
delete m_constraintSolver;
//delete the dispatcher and paircache
delete m_dispatcher1;
m_dispatcher1 = 0;
delete m_pairCache;
m_pairCache = 0;
}
void btSimpleDynamicsWorld::stepSimulation(float timeStep)
{
///apply gravity, predict motion
predictUnconstraintMotion(timeStep);
///perform collision detection
PerformDiscreteCollisionDetection();
///solve contact constraints
PersistentManifold** manifoldPtr = ((CollisionDispatcher*)m_dispatcher1)->getInternalManifoldPointer();
int numManifolds = m_dispatcher1->GetNumManifolds();
ContactSolverInfo infoGlobal;
infoGlobal.m_timeStep = timeStep;
IDebugDraw* debugDrawer=0;
m_constraintSolver->SolveGroup(manifoldPtr, numManifolds,infoGlobal,debugDrawer);
///integrate transforms
integrateTransforms(timeStep);
updateAabbs();
}
void btSimpleDynamicsWorld::updateAabbs()
{
SimdTransform predictedTrans;
for (int i=0;i<m_collisionObjects.size();i++)
{
CollisionObject* colObj = m_collisionObjects[i];
if (colObj->m_internalOwner)
{
RigidBody* body = (RigidBody*)colObj->m_internalOwner;
if (body->IsActive() && (!body->IsStatic()))
{
SimdPoint3 minAabb,maxAabb;
colObj->m_collisionShape->GetAabb(colObj->m_worldTransform, minAabb,maxAabb);
SimpleBroadphase* bp = (SimpleBroadphase*)m_pairCache;
bp->SetAabb(body->m_broadphaseHandle,minAabb,maxAabb);
}
}
}
}
void btSimpleDynamicsWorld::integrateTransforms(float timeStep)
{
SimdTransform predictedTrans;
for (int i=0;i<m_collisionObjects.size();i++)
{
CollisionObject* colObj = m_collisionObjects[i];
if (colObj->m_internalOwner)
{
RigidBody* body = (RigidBody*)colObj->m_internalOwner;
if (body->IsActive() && (!body->IsStatic()))
{
body->predictIntegratedTransform(timeStep, predictedTrans);
body->proceedToTransform( predictedTrans);
}
}
}
}
void btSimpleDynamicsWorld::predictUnconstraintMotion(float timeStep)
{
for (int i=0;i<m_collisionObjects.size();i++)
{
CollisionObject* colObj = m_collisionObjects[i];
if (colObj->m_internalOwner)
{
RigidBody* body = (RigidBody*)colObj->m_internalOwner;
body->m_cachedInvertedWorldTransform = body->m_worldTransform.inverse();
if (body->IsActive() && (!body->IsStatic()))
{
body->applyForces( timeStep);
body->integrateVelocities( timeStep);
body->predictIntegratedTransform(timeStep,body->m_interpolationWorldTransform);
}
}
}
}=======
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btSimpleDynamicsWorld.h"
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"