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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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102
src/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.h
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@@ -16,23 +16,23 @@ subject to the following restrictions:
#ifndef SOLVE_2LINEAR_CONSTRAINT_H
#define SOLVE_2LINEAR_CONSTRAINT_H
#include "LinearMath/SimdMatrix3x3.h"
#include "LinearMath/SimdVector3.h"
#include "LinearMath/btMatrix3x3.h"
#include "LinearMath/btVector3.h"
class RigidBody;
class btRigidBody;
/// constraint class used for lateral tyre friction.
class Solve2LinearConstraint
class btSolve2LinearConstraint
{
SimdScalar m_tau;
SimdScalar m_damping;
btScalar m_tau;
btScalar m_damping;
public:
Solve2LinearConstraint(SimdScalar tau,SimdScalar damping)
btSolve2LinearConstraint(btScalar tau,btScalar damping)
{
m_tau = tau;
m_damping = damping;
@@ -41,64 +41,64 @@ public:
// solve unilateral constraint (equality, direct method)
//
void resolveUnilateralPairConstraint(
RigidBody* body0,
RigidBody* body1,
btRigidBody* body0,
btRigidBody* body1,
const SimdMatrix3x3& world2A,
const SimdMatrix3x3& world2B,
const btMatrix3x3& world2A,
const btMatrix3x3& world2B,
const SimdVector3& invInertiaADiag,
const SimdScalar invMassA,
const SimdVector3& linvelA,const SimdVector3& angvelA,
const SimdVector3& rel_posA1,
const SimdVector3& invInertiaBDiag,
const SimdScalar invMassB,
const SimdVector3& linvelB,const SimdVector3& angvelB,
const SimdVector3& rel_posA2,
const btVector3& invInertiaADiag,
const btScalar invMassA,
const btVector3& linvelA,const btVector3& angvelA,
const btVector3& rel_posA1,
const btVector3& invInertiaBDiag,
const btScalar invMassB,
const btVector3& linvelB,const btVector3& angvelB,
const btVector3& rel_posA2,
SimdScalar depthA, const SimdVector3& normalA,
const SimdVector3& rel_posB1,const SimdVector3& rel_posB2,
SimdScalar depthB, const SimdVector3& normalB,
SimdScalar& imp0,SimdScalar& imp1);
btScalar depthA, const btVector3& normalA,
const btVector3& rel_posB1,const btVector3& rel_posB2,
btScalar depthB, const btVector3& normalB,
btScalar& imp0,btScalar& imp1);
//
// solving 2x2 lcp problem (inequality, direct solution )
//
void resolveBilateralPairConstraint(
RigidBody* body0,
RigidBody* body1,
const SimdMatrix3x3& world2A,
const SimdMatrix3x3& world2B,
btRigidBody* body0,
btRigidBody* body1,
const btMatrix3x3& world2A,
const btMatrix3x3& world2B,
const SimdVector3& invInertiaADiag,
const SimdScalar invMassA,
const SimdVector3& linvelA,const SimdVector3& angvelA,
const SimdVector3& rel_posA1,
const SimdVector3& invInertiaBDiag,
const SimdScalar invMassB,
const SimdVector3& linvelB,const SimdVector3& angvelB,
const SimdVector3& rel_posA2,
const btVector3& invInertiaADiag,
const btScalar invMassA,
const btVector3& linvelA,const btVector3& angvelA,
const btVector3& rel_posA1,
const btVector3& invInertiaBDiag,
const btScalar invMassB,
const btVector3& linvelB,const btVector3& angvelB,
const btVector3& rel_posA2,
SimdScalar depthA, const SimdVector3& normalA,
const SimdVector3& rel_posB1,const SimdVector3& rel_posB2,
SimdScalar depthB, const SimdVector3& normalB,
SimdScalar& imp0,SimdScalar& imp1);
btScalar depthA, const btVector3& normalA,
const btVector3& rel_posB1,const btVector3& rel_posB2,
btScalar depthB, const btVector3& normalB,
btScalar& imp0,btScalar& imp1);
void resolveAngularConstraint( const SimdMatrix3x3& invInertiaAWS,
const SimdScalar invMassA,
const SimdVector3& linvelA,const SimdVector3& angvelA,
const SimdVector3& rel_posA1,
const SimdMatrix3x3& invInertiaBWS,
const SimdScalar invMassB,
const SimdVector3& linvelB,const SimdVector3& angvelB,
const SimdVector3& rel_posA2,
void resolveAngularConstraint( const btMatrix3x3& invInertiaAWS,
const btScalar invMassA,
const btVector3& linvelA,const btVector3& angvelA,
const btVector3& rel_posA1,
const btMatrix3x3& invInertiaBWS,
const btScalar invMassB,
const btVector3& linvelB,const btVector3& angvelB,
const btVector3& rel_posA2,
SimdScalar depthA, const SimdVector3& normalA,
const SimdVector3& rel_posB1,const SimdVector3& rel_posB2,
SimdScalar depthB, const SimdVector3& normalB,
SimdScalar& imp0,SimdScalar& imp1);
btScalar depthA, const btVector3& normalA,
const btVector3& rel_posB1,const btVector3& rel_posB2,
btScalar depthB, const btVector3& normalB,
btScalar& imp0,btScalar& imp1);
};