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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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32
src/BulletDynamics/ConstraintSolver/btHingeConstraint.h
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@@ -16,47 +16,47 @@ subject to the following restrictions:
#ifndef HINGECONSTRAINT_H
#define HINGECONSTRAINT_H
#include "LinearMath/SimdVector3.h"
#include "LinearMath/btVector3.h"
#include "BulletDynamics/ConstraintSolver/btJacobianEntry.h"
#include "btTypedConstraint.h"
class RigidBody;
class btRigidBody;
/// hinge constraint between two rigidbodies each with a pivotpoint that descibes the axis location in local space
/// axis defines the orientation of the hinge axis
class HingeConstraint : public TypedConstraint
class btHingeConstraint : public btTypedConstraint
{
JacobianEntry m_jac[3]; //3 orthogonal linear constraints
JacobianEntry m_jacAng[2]; //2 orthogonal angular constraints
btJacobianEntry m_jac[3]; //3 orthogonal linear constraints
btJacobianEntry m_jacAng[2]; //2 orthogonal angular constraints
SimdVector3 m_pivotInA;
SimdVector3 m_pivotInB;
SimdVector3 m_axisInA;
SimdVector3 m_axisInB;
btVector3 m_pivotInA;
btVector3 m_pivotInB;
btVector3 m_axisInA;
btVector3 m_axisInB;
bool m_angularOnly;
public:
HingeConstraint(RigidBody& rbA,RigidBody& rbB, const SimdVector3& pivotInA,const SimdVector3& pivotInB,SimdVector3& axisInA,SimdVector3& axisInB);
btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB,btVector3& axisInA,btVector3& axisInB);
HingeConstraint(RigidBody& rbA,const SimdVector3& pivotInA,SimdVector3& axisInA);
btHingeConstraint(btRigidBody& rbA,const btVector3& pivotInA,btVector3& axisInA);
HingeConstraint();
btHingeConstraint();
virtual void BuildJacobian();
virtual void SolveConstraint(SimdScalar timeStep);
virtual void SolveConstraint(btScalar timeStep);
void UpdateRHS(SimdScalar timeStep);
void UpdateRHS(btScalar timeStep);
const RigidBody& GetRigidBodyA() const
const btRigidBody& GetRigidBodyA() const
{
return m_rbA;
}
const RigidBody& GetRigidBodyB() const
const btRigidBody& GetRigidBodyB() const
{
return m_rbB;
}