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prepare for Box2D style gui demo

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This commit is contained in:
ejcoumans
2007-10-18 06:37:36 +00:00
parent 8f7b132d23
commit dbe502c5a8
19 changed files with 902 additions and 101 deletions
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20
src/BulletDynamics/ConstraintSolver/btContactConstraint.cpp
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@@ -192,8 +192,8 @@ btScalar resolveSingleFriction(
j1 = -vrel * cpd->m_jacDiagABInvTangent0;
btScalar oldTangentImpulse = cpd->m_accumulatedTangentImpulse0;
cpd->m_accumulatedTangentImpulse0 = oldTangentImpulse + j1;
GEN_set_min(cpd->m_accumulatedTangentImpulse0, limit);
GEN_set_max(cpd->m_accumulatedTangentImpulse0, -limit);
btSetMin(cpd->m_accumulatedTangentImpulse0, limit);
btSetMax(cpd->m_accumulatedTangentImpulse0, -limit);
j1 = cpd->m_accumulatedTangentImpulse0 - oldTangentImpulse;
}
@@ -206,8 +206,8 @@ btScalar resolveSingleFriction(
j2 = -vrel * cpd->m_jacDiagABInvTangent1;
btScalar oldTangentImpulse = cpd->m_accumulatedTangentImpulse1;
cpd->m_accumulatedTangentImpulse1 = oldTangentImpulse + j2;
GEN_set_min(cpd->m_accumulatedTangentImpulse1, limit);
GEN_set_max(cpd->m_accumulatedTangentImpulse1, -limit);
btSetMin(cpd->m_accumulatedTangentImpulse1, limit);
btSetMax(cpd->m_accumulatedTangentImpulse1, -limit);
j2 = cpd->m_accumulatedTangentImpulse1 - oldTangentImpulse;
}
@@ -270,8 +270,8 @@ btScalar resolveSingleFrictionOriginal(
// calculate j that moves us to zero relative velocity
btScalar j = -vrel * cpd->m_jacDiagABInvTangent0;
btScalar total = cpd->m_accumulatedTangentImpulse0 + j;
GEN_set_min(total, limit);
GEN_set_max(total, -limit);
btSetMin(total, limit);
btSetMax(total, -limit);
j = total - cpd->m_accumulatedTangentImpulse0;
cpd->m_accumulatedTangentImpulse0 = total;
body1.applyImpulse(j * cpd->m_frictionWorldTangential0, rel_pos1);
@@ -290,8 +290,8 @@ btScalar resolveSingleFrictionOriginal(
// calculate j that moves us to zero relative velocity
btScalar j = -vrel * cpd->m_jacDiagABInvTangent1;
btScalar total = cpd->m_accumulatedTangentImpulse1 + j;
GEN_set_min(total, limit);
GEN_set_max(total, -limit);
btSetMin(total, limit);
btSetMax(total, -limit);
j = total - cpd->m_accumulatedTangentImpulse1;
cpd->m_accumulatedTangentImpulse1 = total;
body1.applyImpulse(j * cpd->m_frictionWorldTangential1, rel_pos1);
@@ -388,8 +388,8 @@ btScalar resolveSingleCollisionCombined(
(body1.getInvMass() + body2.getInvMass() + lat_vel.dot(temp1.cross(rel_pos1) + temp2.cross(rel_pos2)));
btScalar normal_impulse = cpd->m_appliedImpulse * combinedFriction;
GEN_set_min(friction_impulse, normal_impulse);
GEN_set_max(friction_impulse, -normal_impulse);
btSetMin(friction_impulse, normal_impulse);
btSetMax(friction_impulse, -normal_impulse);
body1.applyImpulse(lat_vel * -friction_impulse, rel_pos1);
body2.applyImpulse(lat_vel * friction_impulse, rel_pos2);
}