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Add support for childshape index for btCompoundShape during ContactAddedCallback,

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see example in Bullet/Demos/ConvexDecompositionDemo
Removed some warnings
This commit is contained in:
erwin.coumans
2009-08-11 00:30:41 +00:00
parent f352cca5cf
commit d67aa861f2
40 changed files with 235 additions and 113 deletions
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1
src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
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@@ -580,7 +580,6 @@ void btGeneric6DofConstraint::getInfo2NonVirtual (btConstraintInfo2* info, const
int btGeneric6DofConstraint::setLinearLimits(btConstraintInfo2* info,const btTransform& transA,const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB,const btVector3& angVelA,const btVector3& angVelB)
{
btGeneric6DofConstraint * d6constraint = this;
int row = 0;
//solve linear limits
btRotationalLimitMotor limot;

6
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
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@@ -97,7 +97,7 @@ void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGenericSIMD(
const btScalar deltaVel1Dotn = c.m_contactNormal.dot(body1.m_deltaLinearVelocity) + c.m_relpos1CrossNormal.dot(body1.m_deltaAngularVelocity);
const btScalar deltaVel2Dotn = -c.m_contactNormal.dot(body2.m_deltaLinearVelocity) + c.m_relpos2CrossNormal.dot(body2.m_deltaAngularVelocity);
const btScalar delta_rel_vel = deltaVel1Dotn-deltaVel2Dotn;
// const btScalar delta_rel_vel = deltaVel1Dotn-deltaVel2Dotn;
deltaImpulse -= deltaVel1Dotn*c.m_jacDiagABInv;
deltaImpulse -= deltaVel2Dotn*c.m_jacDiagABInv;
@@ -403,7 +403,7 @@ btSolverConstraint& btSequentialImpulseConstraintSolver::addFrictionConstraint(c
rel_vel = vel1Dotn+vel2Dotn;
btScalar positionalError = 0.f;
// btScalar positionalError = 0.f;
btSimdScalar velocityError = - rel_vel;
btSimdScalar velocityImpulse = velocityError * btSimdScalar(solverConstraint.m_jacDiagABInv);
@@ -871,7 +871,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
{
int i;
btPersistentManifold* manifold = 0;
btCollisionObject* colObj0=0,*colObj1=0;
// btCollisionObject* colObj0=0,*colObj1=0;
for (i=0;i<numManifolds;i++)

29
src/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp
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@@ -68,9 +68,8 @@ void btSliderConstraint::initParams()
btSliderConstraint::btSliderConstraint()
:btTypedConstraint(SLIDER_CONSTRAINT_TYPE),
m_useLinearReferenceFrameA(true),
m_useSolveConstraintObsolete(false)
// m_useSolveConstraintObsolete(true)
m_useSolveConstraintObsolete(false),
m_useLinearReferenceFrameA(true)
{
initParams();
}
@@ -78,12 +77,11 @@ btSliderConstraint::btSliderConstraint()
btSliderConstraint::btSliderConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB, bool useLinearReferenceFrameA)
: btTypedConstraint(SLIDER_CONSTRAINT_TYPE, rbA, rbB)
, m_frameInA(frameInA)
, m_frameInB(frameInB),
m_useLinearReferenceFrameA(useLinearReferenceFrameA),
m_useSolveConstraintObsolete(false)
// m_useSolveConstraintObsolete(true)
: btTypedConstraint(SLIDER_CONSTRAINT_TYPE, rbA, rbB),
m_useSolveConstraintObsolete(false),
m_frameInA(frameInA),
m_frameInB(frameInB),
m_useLinearReferenceFrameA(useLinearReferenceFrameA)
{
initParams();
}
@@ -91,12 +89,10 @@ btSliderConstraint::btSliderConstraint(btRigidBody& rbA, btRigidBody& rbB, const
static btRigidBody s_fixed(0, 0, 0);
btSliderConstraint::btSliderConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameB)
: btTypedConstraint(SLIDER_CONSTRAINT_TYPE, s_fixed, rbB)
,
m_frameInB(frameInB),
m_useLinearReferenceFrameA(useLinearReferenceFrameB),
m_useSolveConstraintObsolete(false)
// m_useSolveConstraintObsolete(true)
: btTypedConstraint(SLIDER_CONSTRAINT_TYPE, s_fixed, rbB),
m_useSolveConstraintObsolete(false),
m_frameInB(frameInB),
m_useLinearReferenceFrameA(useLinearReferenceFrameB)
{
///not providing rigidbody B means implicitly using worldspace for body B
// m_frameInA.getOrigin() = m_rbA.getCenterOfMassTransform()(m_frameInA.getOrigin());
@@ -217,9 +213,6 @@ void btSliderConstraint::getInfo1NonVirtual(btConstraintInfo1* info)
void btSliderConstraint::getInfo2(btConstraintInfo2* info)
{
const btTransform& trA = getCalculatedTransformA();
const btTransform& trB = getCalculatedTransformB();
getInfo2NonVirtual(info,m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform(), m_rbA.getLinearVelocity(),m_rbB.getLinearVelocity(), m_rbA.getInvMass(),m_rbB.getInvMass());
}