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merged most of the changes from the branch into trunk, except for COLLADA, libxml and glut glitches.

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Still need to verify to make sure no unwanted renaming is introduced.
This commit is contained in:
ejcoumans
2006-09-27 20:43:51 +00:00
parent d1e9a885f3
commit eb23bb5c0c
263 changed files with 7528 additions and 6714 deletions
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46
Extras/quickstep/OdeConstraintSolver.cpp
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@@ -20,12 +20,12 @@ subject to the following restrictions:
#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
#include "BulletDynamics/Dynamics/btRigidBody.h"
#include "btContactConstraint.h"
#include "Solve2LinearConstraint.h"
#include "btSolve2LinearConstraint.h"
#include "btContactSolverInfo.h"
#include "Dynamics/BU_Joint.h"
#include "Dynamics/ContactJoint.h"
#include "LinearMath/GenIDebugDraw.h"
#include "LinearMath/btIDebugDraw.h"
#define USE_SOR_SOLVER
@@ -69,13 +69,13 @@ m_erp(0.4f)
//iterative lcp and penalty method
float OdeConstraintSolver::SolveGroup(PersistentManifold** manifoldPtr, int numManifolds,const ContactSolverInfo& infoGlobal,IDebugDraw* debugDrawer)
float OdeConstraintSolver::SolveGroup(btPersistentManifold** manifoldPtr, int numManifolds,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer)
{
m_CurBody = 0;
m_CurJoint = 0;
RigidBody* bodies [MAX_QUICKSTEP_RIGIDBODIES];
btRigidBody* bodies [MAX_QUICKSTEP_RIGIDBODIES];
int numBodies = 0;
BU_Joint* joints [MAX_QUICKSTEP_RIGIDBODIES*4];
@@ -86,11 +86,11 @@ float OdeConstraintSolver::SolveGroup(PersistentManifold** manifoldPtr, int numM
int body0=-1,body1=-1;
PersistentManifold* manifold = manifoldPtr[j];
btPersistentManifold* manifold = manifoldPtr[j];
if (manifold->GetNumContacts() > 0)
{
body0 = ConvertBody((RigidBody*)manifold->GetBody0(),bodies,numBodies);
body1 = ConvertBody((RigidBody*)manifold->GetBody1(),bodies,numBodies);
body0 = ConvertBody((btRigidBody*)manifold->GetBody0(),bodies,numBodies);
body1 = ConvertBody((btRigidBody*)manifold->GetBody1(),bodies,numBodies);
ConvertConstraint(manifold,joints,numJoints,bodies,body0,body1,debugDrawer);
}
}
@@ -104,15 +104,15 @@ float OdeConstraintSolver::SolveGroup(PersistentManifold** manifoldPtr, int numM
/////////////////////////////////////////////////////////////////////////////////
typedef SimdScalar dQuaternion[4];
typedef btScalar dQuaternion[4];
#define _R(i,j) R[(i)*4+(j)]
void dRfromQ1 (dMatrix3 R, const dQuaternion q)
{
// q = (s,vx,vy,vz)
SimdScalar qq1 = 2.f*q[1]*q[1];
SimdScalar qq2 = 2.f*q[2]*q[2];
SimdScalar qq3 = 2.f*q[3]*q[3];
btScalar qq1 = 2.f*q[1]*q[1];
btScalar qq2 = 2.f*q[2]*q[2];
btScalar qq3 = 2.f*q[3]*q[3];
_R(0,0) = 1.f - qq2 - qq3;
_R(0,1) = 2*(q[1]*q[2] - q[0]*q[3]);
_R(0,2) = 2*(q[1]*q[3] + q[0]*q[2]);
@@ -132,7 +132,7 @@ void dRfromQ1 (dMatrix3 R, const dQuaternion q)
int OdeConstraintSolver::ConvertBody(RigidBody* body,RigidBody** bodies,int& numBodies)
int OdeConstraintSolver::ConvertBody(btRigidBody* body,btRigidBody** bodies,int& numBodies)
{
if (!body || (body->getInvMass() == 0.f) )
{
@@ -194,13 +194,13 @@ int OdeConstraintSolver::ConvertBody(RigidBody* body,RigidBody** bodies,int& num
static ContactJoint gJointArray[MAX_JOINTS_1];
void OdeConstraintSolver::ConvertConstraint(PersistentManifold* manifold,BU_Joint** joints,int& numJoints,
RigidBody** bodies,int _bodyId0,int _bodyId1,IDebugDraw* debugDrawer)
void OdeConstraintSolver::ConvertConstraint(btPersistentManifold* manifold,BU_Joint** joints,int& numJoints,
btRigidBody** bodies,int _bodyId0,int _bodyId1,btIDebugDraw* debugDrawer)
{
manifold->RefreshContactPoints(((RigidBody*)manifold->GetBody0())->getCenterOfMassTransform(),
((RigidBody*)manifold->GetBody1())->getCenterOfMassTransform());
manifold->RefreshContactPoints(((btRigidBody*)manifold->GetBody0())->getCenterOfMassTransform(),
((btRigidBody*)manifold->GetBody1())->getCenterOfMassTransform());
int bodyId0 = _bodyId0,bodyId1 = _bodyId1;
@@ -209,31 +209,31 @@ void OdeConstraintSolver::ConvertConstraint(PersistentManifold* manifold,BU_Join
bool swapBodies = (bodyId0 < 0);
RigidBody* body0,*body1;
btRigidBody* body0,*body1;
if (swapBodies)
{
bodyId0 = _bodyId1;
bodyId1 = _bodyId0;
body0 = (RigidBody*)manifold->GetBody1();
body1 = (RigidBody*)manifold->GetBody0();
body0 = (btRigidBody*)manifold->GetBody1();
body1 = (btRigidBody*)manifold->GetBody0();
} else
{
body0 = (RigidBody*)manifold->GetBody0();
body1 = (RigidBody*)manifold->GetBody1();
body0 = (btRigidBody*)manifold->GetBody0();
body1 = (btRigidBody*)manifold->GetBody1();
}
assert(bodyId0 >= 0);
SimdVector3 color(0,1,0);
btVector3 color(0,1,0);
for (i=0;i<numContacts;i++)
{
if (debugDrawer)
{
const ManifoldPoint& cp = manifold->GetContactPoint(i);
const btManifoldPoint& cp = manifold->GetContactPoint(i);
debugDrawer->DrawContactPoint(
cp.m_positionWorldOnB,