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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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14
Extras/quickstep/OdeConstraintSolver.h
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@@ -16,14 +16,14 @@ subject to the following restrictions:
#ifndef ODE_CONSTRAINT_SOLVER_H
#define ODE_CONSTRAINT_SOLVER_H
#include "ConstraintSolver.h"
#include "btConstraintSolver.h"
class RigidBody;
class btRigidBody;
class BU_Joint;
/// OdeConstraintSolver is one of the available solvers for Bullet dynamics framework
/// It uses the the unmodified version of quickstep solver from the open dynamics project
class OdeConstraintSolver : public ConstraintSolver
class OdeConstraintSolver : public btConstraintSolver
{
private:
@@ -34,9 +34,9 @@ private:
float m_erp;
int ConvertBody(RigidBody* body,RigidBody** bodies,int& numBodies);
void ConvertConstraint(PersistentManifold* manifold,BU_Joint** joints,int& numJoints,
RigidBody** bodies,int _bodyId0,int _bodyId1,IDebugDraw* debugDrawer);
int ConvertBody(btRigidBody* body,btRigidBody** bodies,int& numBodies);
void ConvertConstraint(btPersistentManifold* manifold,BU_Joint** joints,int& numJoints,
btRigidBody** bodies,int _bodyId0,int _bodyId1,btIDebugDraw* debugDrawer);
public:
@@ -44,7 +44,7 @@ public:
virtual ~OdeConstraintSolver() {}
virtual float SolveGroup(PersistentManifold** manifold,int numManifolds,const ContactSolverInfo& info,IDebugDraw* debugDrawer = 0);
virtual float SolveGroup(btPersistentManifold** manifold,int numManifolds,const btContactSolverInfo& info,btIDebugDraw* debugDrawer = 0);
///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'