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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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48
src/BulletDynamics/ConstraintSolver/btContactConstraint.h
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@@ -18,11 +18,11 @@ subject to the following restrictions:
//todo: make into a proper class working with the iterative constraint solver
class RigidBody;
#include "LinearMath/SimdVector3.h"
#include "LinearMath/SimdScalar.h"
struct ContactSolverInfo;
class ManifoldPoint;
class btRigidBody;
#include "LinearMath/btVector3.h"
#include "LinearMath/btScalar.h"
struct btContactSolverInfo;
class btManifoldPoint;
enum {
DEFAULT_CONTACT_SOLVER_TYPE=0,
@@ -33,14 +33,14 @@ enum {
};
typedef float (*ContactSolverFunc)(RigidBody& body1,
RigidBody& body2,
class ManifoldPoint& contactPoint,
const ContactSolverInfo& info);
typedef float (*ContactSolverFunc)(btRigidBody& body1,
btRigidBody& body2,
class btManifoldPoint& contactPoint,
const btContactSolverInfo& info);
struct ConstraintPersistentData
struct btConstraintPersistentData
{
inline ConstraintPersistentData()
inline btConstraintPersistentData()
:m_appliedImpulse(0.f),
m_prevAppliedImpulse(0.f),
m_accumulatedTangentImpulse0(0.f),
@@ -69,8 +69,8 @@ struct ConstraintPersistentData
float m_restitution;
float m_friction;
float m_penetration;
SimdVector3 m_frictionWorldTangential0;
SimdVector3 m_frictionWorldTangential1;
btVector3 m_frictionWorldTangential0;
btVector3 m_frictionWorldTangential1;
ContactSolverFunc m_contactSolverFunc;
ContactSolverFunc m_frictionSolverFunc;
@@ -79,25 +79,25 @@ struct ConstraintPersistentData
///bilateral constraint between two dynamic objects
///positive distance = separation, negative distance = penetration
void resolveSingleBilateral(RigidBody& body1, const SimdVector3& pos1,
RigidBody& body2, const SimdVector3& pos2,
SimdScalar distance, const SimdVector3& normal,SimdScalar& impulse ,float timeStep);
void resolveSingleBilateral(btRigidBody& body1, const btVector3& pos1,
btRigidBody& body2, const btVector3& pos2,
btScalar distance, const btVector3& normal,btScalar& impulse ,float timeStep);
///contact constraint resolution:
///calculate and apply impulse to satisfy non-penetration and non-negative relative velocity constraint
///positive distance = separation, negative distance = penetration
float resolveSingleCollision(
RigidBody& body1,
RigidBody& body2,
ManifoldPoint& contactPoint,
const ContactSolverInfo& info);
btRigidBody& body1,
btRigidBody& body2,
btManifoldPoint& contactPoint,
const btContactSolverInfo& info);
float resolveSingleFriction(
RigidBody& body1,
RigidBody& body2,
ManifoldPoint& contactPoint,
const ContactSolverInfo& solverInfo
btRigidBody& body1,
btRigidBody& body2,
btManifoldPoint& contactPoint,
const btContactSolverInfo& solverInfo
);
#endif //CONTACT_CONSTRAINT_H