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/btOdeTypedJoint.h
+++ b/Extras/quickstep/btOdeTypedJoint.h
@@ -0,0 +1,142 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+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.
+*/
+/*
+2007-09-09
+Added support for typed joints by Francisco Le?n
+email: projectileman@yahoo.com
+http://gimpact.sf.net
+*/
+
+#ifndef TYPED_JOINT_H
+#define TYPED_JOINT_H
+
+#include "btOdeJoint.h"
+#include "BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h"
+#include "BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h"
+#include "BulletDynamics/ConstraintSolver/btSliderConstraint.h"
+
+struct btOdeSolverBody;
+
+class btOdeTypedJoint : public btOdeJoint
+{
+public:
+	btTypedConstraint * m_constraint;
+	int		m_index;
+	bool	m_swapBodies;
+	btOdeSolverBody* m_body0;
+	btOdeSolverBody* m_body1;
+
+	btOdeTypedJoint(){}
+	btOdeTypedJoint(
+		btTypedConstraint * constraint,
+		int index,bool swap,btOdeSolverBody* body0,btOdeSolverBody* body1):
+			m_constraint(constraint),
+			m_index(index),
+			m_swapBodies(swap),
+			m_body0(body0),
+			m_body1(body1)
+	{
+	}
+
+	virtual void GetInfo1(Info1 *info);
+	virtual void GetInfo2(Info2 *info);
+};
+
+
+
+class OdeP2PJoint : public btOdeTypedJoint
+{
+protected:
+	inline btPoint2PointConstraint * getP2PConstraint()
+	{
+		return static_cast<btPoint2PointConstraint * >(m_constraint);
+	}
+public:
+
+	OdeP2PJoint() {};
+
+	OdeP2PJoint(btTypedConstraint* constraint,int index,bool swap,btOdeSolverBody* body0,btOdeSolverBody* body1);
+
+	//btOdeJoint interface for solver
+
+	virtual void GetInfo1(Info1 *info);
+
+	virtual void GetInfo2(Info2 *info);
+};
+
+
+class OdeD6Joint : public btOdeTypedJoint
+{
+protected:
+	inline btGeneric6DofConstraint * getD6Constraint()
+	{
+		return static_cast<btGeneric6DofConstraint * >(m_constraint);
+	}
+
+	int setLinearLimits(Info2 *info);
+	int setAngularLimits(Info2 *info, int row_offset);
+
+public:
+
+	OdeD6Joint() {};
+
+	OdeD6Joint(btTypedConstraint* constraint,int index,bool swap,btOdeSolverBody* body0,btOdeSolverBody* body1);
+
+	//btOdeJoint interface for solver
+
+	virtual void GetInfo1(Info1 *info);
+
+	virtual void GetInfo2(Info2 *info);
+};
+
+//! retrieves the constraint info from a btRotationalLimitMotor object
+/*! \pre testLimitValue must be called on limot*/
+int bt_get_limit_motor_info2(
+	btRotationalLimitMotor * limot,
+	btRigidBody * body0, btRigidBody * body1,
+	btOdeJoint::Info2 *info, int row, btVector3& ax1, int rotational);
+
+/*
+OdeSliderJoint
+Ported from ODE by Roman Ponomarev (rponom@gmail.com)
+April 24, 2008
+*/
+class OdeSliderJoint : public btOdeTypedJoint
+{
+protected:
+	inline btSliderConstraint * getSliderConstraint()
+	{
+		return static_cast<btSliderConstraint * >(m_constraint);
+	}
+public:
+
+	OdeSliderJoint() {};
+
+	OdeSliderJoint(btTypedConstraint* constraint,int index,bool swap, btOdeSolverBody* body0, btOdeSolverBody* body1);
+
+	//BU_Joint interface for solver
+
+	virtual void GetInfo1(Info1 *info);
+
+	virtual void GetInfo2(Info2 *info);
+};
+
+
+
+
+#endif //CONTACT_JOINT_H
+
+
+