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more work on hashed pairmanager. growing doesn't work yet, so need to allocate enough room for the overlapping pairs in advance.

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boxbox reports contact point in B, rather then average point
box, cylinder use halfextents corrected for scaling and margin. made the margin in this halfextents explicit in the 'getHalfExtentsWithMargin' and 'getHalfExtentsWithoutMargin'
integrated changed for ODE quickstep solver
replaced inline with SIMD_FORCE_INLINE
some minor optimizations in the btSequentialImpulseConstraintSolver

added cone drawing (for X,Y,Z cones)
This commit is contained in:
ejcoumans
2007-10-12 02:52:28 +00:00
parent 1baa61bc8d
commit eff4fe8ec8
39 changed files with 1882 additions and 1336 deletions
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88
Extras/quickstep/SorLcp.h
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@@ -29,23 +29,85 @@ struct OdeSolverBody;
class BU_Joint;
#include "LinearMath/btScalar.h"
#include "LinearMath/btAlignedObjectArray.h"
#include "LinearMath/btStackAlloc.h"
struct btContactSolverInfo;
/*
void SolveInternal1 (float global_cfm,
float global_erp,
OdeSolverBody * const *body, int nb,
BU_Joint **_joint, int nj, const btContactSolverInfo& info);
*/
void SolveInternal1 (float global_cfm,
float global_erp,
const btAlignedObjectArray<OdeSolverBody*> &body, int nb,
btAlignedObjectArray<BU_Joint*> &joint,
int nj, const btContactSolverInfo& solverInfo);
int dRandInt2 (int n);
//=============================================================================
class SorLcpSolver //Remotion: 11.10.2007
{
public:
SorLcpSolver()
{
dRand2_seed = 0;
}
void SolveInternal1 (float global_cfm,
float global_erp,
const btAlignedObjectArray<OdeSolverBody*> &body, int nb,
btAlignedObjectArray<BU_Joint*> &joint,
int nj, const btContactSolverInfo& solverInfo,
btStackAlloc* stackAlloc
);
public: //data
unsigned long dRand2_seed;
protected: //typedef
typedef const btScalar *dRealPtr;
typedef btScalar *dRealMutablePtr;
protected: //members
//------------------------------------------------------------------------------
SIMD_FORCE_INLINE unsigned long dRand2()
{
dRand2_seed = (1664525L*dRand2_seed + 1013904223L) & 0xffffffff;
return dRand2_seed;
}
//------------------------------------------------------------------------------
SIMD_FORCE_INLINE int dRandInt2 (int n)
{
float a = float(n) / 4294967296.0f;
return (int) (float(dRand2()) * a);
}
//------------------------------------------------------------------------------
void SOR_LCP(int m, int nb, dRealMutablePtr J, int *jb,
const btAlignedObjectArray<OdeSolverBody*> &body,
dRealPtr invI, dRealMutablePtr lambda, dRealMutablePtr invMforce, dRealMutablePtr rhs,
dRealMutablePtr lo, dRealMutablePtr hi, dRealPtr cfm, int *findex,
int numiter,float overRelax,
btStackAlloc* stackAlloc
);
};
//=============================================================================
class AutoBlockSa //Remotion: 10.10.2007
{
btStackAlloc* stackAlloc;
btBlock* saBlock;
public:
AutoBlockSa(btStackAlloc* stackAlloc_)
{
stackAlloc = stackAlloc_;
saBlock = stackAlloc->beginBlock();
}
~AutoBlockSa()
{
stackAlloc->endBlock(saBlock);
}
//operator btBlock* () { return saBlock; }
};
// //Usage
//void function(btStackAlloc* stackAlloc)
//{
// AutoBlockSa(stackAlloc);
// ...
// if(...) return;
// return;
//}
//------------------------------------------------------------------------------
#endif //SOR_LCP_H