Calculation of bounding box: margins should be added before basis transform.

Disable btSphereBoxCollisionAlgorithm, it is broken. More fixes for btSimpleBroadphase Moved quickstep to Extras/quickstep folder, so developers don't get confused which constraint solver is default.
2008-09-04 22:53:24 +00:00
parent 5334611f48
commit d8a5bf2c9c
29 changed files with 54 additions and 51 deletions
--- a/Extras/quickstep/btOdeQuickstepConstraintSolver.h
+++ b/Extras/quickstep/btOdeQuickstepConstraintSolver.h
@@ -0,0 +1,109 @@
+/*
+ * Quickstep constraint solver re-distributed under the ZLib license with permission from Russell L. Smith
+ * Original version is from Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org
+ Bullet Continuous Collision Detection and Physics Library
+ Bullet is Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+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:
+
+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.
+*/
+
+#ifndef ODE_CONSTRAINT_SOLVER_H
+#define ODE_CONSTRAINT_SOLVER_H
+
+#include "BulletDynamics/ConstraintSolver/btConstraintSolver.h"
+
+#include "LinearMath/btAlignedObjectArray.h"
+#include "btOdeContactJoint.h"
+#include "btOdeTypedJoint.h"
+#include "btOdeSolverBody.h"
+#include "btSorLcp.h"
+
+class btRigidBody;
+struct	btOdeSolverBody;
+class btOdeJoint;
+
+/// btOdeQuickstepConstraintSolver is one of the available solvers for Bullet dynamics framework
+/// It uses an adapted version quickstep solver from the Open Dynamics Engine project
+class btOdeQuickstepConstraintSolver : public btConstraintSolver
+{
+private:
+	int		m_CurBody;
+	int		m_CurJoint;
+	int		m_CurTypedJoint;
+
+	float	m_cfm;
+	float	m_erp;
+
+	btSorLcpSolver	m_SorLcpSolver;
+
+	btAlignedObjectArray<btOdeSolverBody*> m_odeBodies;
+	btAlignedObjectArray<btOdeJoint*>		 m_joints;
+
+	btAlignedObjectArray<btOdeSolverBody>  m_SolverBodyArray;
+	btAlignedObjectArray<btOdeContactJoint>   m_JointArray;
+	btAlignedObjectArray<btOdeTypedJoint>  m_TypedJointArray;
+
+
+private:
+	int  ConvertBody(btRigidBody* body,btAlignedObjectArray< btOdeSolverBody*> &bodies,int& numBodies);
+	void ConvertConstraint(btPersistentManifold* manifold,
+							btAlignedObjectArray<btOdeJoint*> &joints,int& numJoints,
+							const btAlignedObjectArray< btOdeSolverBody*> &bodies,
+							int _bodyId0,int _bodyId1,btIDebugDraw* debugDrawer);
+
+	void ConvertTypedConstraint(
+							btTypedConstraint * constraint,
+							btAlignedObjectArray<btOdeJoint*> &joints,int& numJoints,
+							const btAlignedObjectArray< btOdeSolverBody*> &bodies,int _bodyId0,int _bodyId1,btIDebugDraw* debugDrawer);
+
+
+public:
+
+	btOdeQuickstepConstraintSolver();
+
+	virtual ~btOdeQuickstepConstraintSolver() {}
+
+	virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc,btDispatcher* dispatcher);
+
+	///setConstraintForceMixing, the cfm adds some positive value to the main diagonal
+	///This can improve convergence (make matrix positive semidefinite), but it can make the simulation look more 'springy'
+	void	setConstraintForceMixing(float cfm) {
+		m_cfm  = cfm;
+	}
+
+	///setErrorReductionParamter sets the maximum amount of error reduction
+	///which limits energy addition during penetration depth recovery
+	void	setErrorReductionParamter(float erp)
+	{
+		m_erp = erp;
+	}
+
+	///clear internal cached data and reset random seed
+	void reset()
+	{
+		m_SorLcpSolver.dRand2_seed = 0;
+	}
+
+	void	setRandSeed(unsigned long seed)
+	{
+		m_SorLcpSolver.dRand2_seed = seed;
+	}
+	unsigned long	getRandSeed() const
+	{
+		return m_SorLcpSolver.dRand2_seed;
+	}
+};
+
+
+
+
+#endif //ODE_CONSTRAINT_SOLVER_H