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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/btGeneric6DofConstraint.h
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@@ -16,67 +16,67 @@ subject to the following restrictions:
#ifndef GENERIC_6DOF_CONSTRAINT_H
#define GENERIC_6DOF_CONSTRAINT_H
#include "LinearMath/SimdVector3.h"
#include "LinearMath/btVector3.h"
#include "BulletDynamics/ConstraintSolver/btJacobianEntry.h"
#include "btTypedConstraint.h"
class RigidBody;
class btRigidBody;
/// Generic6DofConstraint between two rigidbodies each with a pivotpoint that descibes the axis location in local space
/// Generic6DofConstraint can leave any of the 6 degree of freedom 'free' or 'locked'
/// btGeneric6DofConstraint between two rigidbodies each with a pivotpoint that descibes the axis location in local space
/// btGeneric6DofConstraint can leave any of the 6 degree of freedom 'free' or 'locked'
/// Work in progress (is still a Hinge actually)
class Generic6DofConstraint : public TypedConstraint
class btGeneric6DofConstraint : public btTypedConstraint
{
JacobianEntry m_jacLinear[3]; // 3 orthogonal linear constraints
JacobianEntry m_jacAng[3]; // 3 orthogonal angular constraints
btJacobianEntry m_jacLinear[3]; // 3 orthogonal linear constraints
btJacobianEntry m_jacAng[3]; // 3 orthogonal angular constraints
SimdTransform m_frameInA; // the constraint space w.r.t body A
SimdTransform m_frameInB; // the constraint space w.r.t body B
btTransform m_frameInA; // the constraint space w.r.t body A
btTransform m_frameInB; // the constraint space w.r.t body B
SimdScalar m_lowerLimit[6]; // the constraint lower limits
SimdScalar m_upperLimit[6]; // the constraint upper limits
btScalar m_lowerLimit[6]; // the constraint lower limits
btScalar m_upperLimit[6]; // the constraint upper limits
SimdScalar m_accumulatedImpulse[6];
btScalar m_accumulatedImpulse[6];
public:
Generic6DofConstraint(RigidBody& rbA, RigidBody& rbB, const SimdTransform& frameInA, const SimdTransform& frameInB );
btGeneric6DofConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB );
Generic6DofConstraint();
btGeneric6DofConstraint();
virtual void BuildJacobian();
virtual void SolveConstraint(SimdScalar timeStep);
virtual void SolveConstraint(btScalar timeStep);
void UpdateRHS(SimdScalar timeStep);
void UpdateRHS(btScalar timeStep);
SimdScalar ComputeAngle(int axis) const;
btScalar ComputeAngle(int axis) const;
void setLinearLowerLimit(const SimdVector3& linearLower)
void setLinearLowerLimit(const btVector3& linearLower)
{
m_lowerLimit[0] = linearLower.getX();
m_lowerLimit[1] = linearLower.getY();
m_lowerLimit[2] = linearLower.getZ();
}
void setLinearUpperLimit(const SimdVector3& linearUpper)
void setLinearUpperLimit(const btVector3& linearUpper)
{
m_upperLimit[0] = linearUpper.getX();
m_upperLimit[1] = linearUpper.getY();
m_upperLimit[2] = linearUpper.getZ();
}
void setAngularLowerLimit(const SimdVector3& angularLower)
void setAngularLowerLimit(const btVector3& angularLower)
{
m_lowerLimit[3] = angularLower.getX();
m_lowerLimit[4] = angularLower.getY();
m_lowerLimit[5] = angularLower.getZ();
}
void setAngularUpperLimit(const SimdVector3& angularUpper)
void setAngularUpperLimit(const btVector3& angularUpper)
{
m_upperLimit[3] = angularUpper.getX();
m_upperLimit[4] = angularUpper.getY();
@@ -84,7 +84,7 @@ public:
}
//first 3 are linear, next 3 are angular
void SetLimit(int axis, SimdScalar lo, SimdScalar hi)
void SetLimit(int axis, btScalar lo, btScalar hi)
{
m_lowerLimit[axis] = lo;
m_upperLimit[axis] = hi;
@@ -99,11 +99,11 @@ public:
return (m_upperLimit[limitIndex] >= m_lowerLimit[limitIndex]);
}
const RigidBody& GetRigidBodyA() const
const btRigidBody& GetRigidBodyA() const
{
return m_rbA;
}
const RigidBody& GetRigidBodyB() const
const btRigidBody& GetRigidBodyB() const
{
return m_rbB;
}