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authorBrecht Van Lommel <brechtvanlommel@pandora.be>2008-11-13 00:16:53 +0300
committerBrecht Van Lommel <brechtvanlommel@pandora.be>2008-11-13 00:16:53 +0300
commitbdfe7d89e2f1292644577972c716931b4ce3c6c3 (patch)
treed00eb50b749cb001e2b08272c91791e66740b05d /extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactConstraint.cpp
parent78a1c27c4a6abe0ed31ca93ad21910f3df04da56 (diff)
parent7e4db234cee71ead34ee81a12e27da4bd548eb4b (diff)
Merge of trunk into blender 2.5:
svn merge https://svn.blender.org/svnroot/bf-blender/trunk/blender -r12987:17416 Issues: * GHOST/X11 had conflicting changes. Some code was added in 2.5, which was later added in trunk also, but reverted partially, specifically revision 16683. I have left out this reversion in the 2.5 branch since I think it is needed there. http://projects.blender.org/plugins/scmsvn/viewcvs.php?view=rev&root=bf-blender&revision=16683 * Scons had various conflicting changes, I decided to go with trunk version for everything except priorities and some library renaming. * In creator.c, there were various fixes and fixes for fixes related to the -w -W and -p options. In 2.5 -w and -W is not coded yet, and -p is done differently. Since this is changed so much, and I don't think those fixes would be needed in 2.5, I've left them out. * Also in creator.c: there was code for a python bugfix where the screen was not initialized when running with -P. The code that initializes the screen there I had to disable, that can't work in 2.5 anymore but left it commented as a reminder. Further I had to disable some new function calls. using src/ and python/, as was done already in this branch, disabled function calls: * bpath.c: error reporting * BME_conversions.c: editmesh conversion functions. * SHD_dynamic: disabled almost completely, there is no python/. * KX_PythonInit.cpp and Ketsji/ build files: Mathutils is not there, disabled. * text.c: clipboard copy call. * object.c: OB_SUPPORT_MATERIAL. * DerivedMesh.c and subsurf_ccg, stipple_quarttone. Still to be done: * Go over files and functions that were moved to a different location but could still use changes that were done in trunk.
Diffstat (limited to 'extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactConstraint.cpp')
-rw-r--r--extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactConstraint.cpp32
1 files changed, 22 insertions, 10 deletions
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactConstraint.cpp b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactConstraint.cpp
index bb3fe832592..4d7cd05feb7 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactConstraint.cpp
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactConstraint.cpp
@@ -192,8 +192,8 @@ btScalar resolveSingleFriction(
j1 = -vrel * cpd->m_jacDiagABInvTangent0;
btScalar oldTangentImpulse = cpd->m_accumulatedTangentImpulse0;
cpd->m_accumulatedTangentImpulse0 = oldTangentImpulse + j1;
- GEN_set_min(cpd->m_accumulatedTangentImpulse0, limit);
- GEN_set_max(cpd->m_accumulatedTangentImpulse0, -limit);
+ btSetMin(cpd->m_accumulatedTangentImpulse0, limit);
+ btSetMax(cpd->m_accumulatedTangentImpulse0, -limit);
j1 = cpd->m_accumulatedTangentImpulse0 - oldTangentImpulse;
}
@@ -206,8 +206,8 @@ btScalar resolveSingleFriction(
j2 = -vrel * cpd->m_jacDiagABInvTangent1;
btScalar oldTangentImpulse = cpd->m_accumulatedTangentImpulse1;
cpd->m_accumulatedTangentImpulse1 = oldTangentImpulse + j2;
- GEN_set_min(cpd->m_accumulatedTangentImpulse1, limit);
- GEN_set_max(cpd->m_accumulatedTangentImpulse1, -limit);
+ btSetMin(cpd->m_accumulatedTangentImpulse1, limit);
+ btSetMax(cpd->m_accumulatedTangentImpulse1, -limit);
j2 = cpd->m_accumulatedTangentImpulse1 - oldTangentImpulse;
}
@@ -237,6 +237,12 @@ btScalar resolveSingleFrictionOriginal(
btRigidBody& body1,
btRigidBody& body2,
btManifoldPoint& contactPoint,
+ const btContactSolverInfo& solverInfo);
+
+btScalar resolveSingleFrictionOriginal(
+ btRigidBody& body1,
+ btRigidBody& body2,
+ btManifoldPoint& contactPoint,
const btContactSolverInfo& solverInfo)
{
@@ -270,8 +276,8 @@ btScalar resolveSingleFrictionOriginal(
// calculate j that moves us to zero relative velocity
btScalar j = -vrel * cpd->m_jacDiagABInvTangent0;
btScalar total = cpd->m_accumulatedTangentImpulse0 + j;
- GEN_set_min(total, limit);
- GEN_set_max(total, -limit);
+ btSetMin(total, limit);
+ btSetMax(total, -limit);
j = total - cpd->m_accumulatedTangentImpulse0;
cpd->m_accumulatedTangentImpulse0 = total;
body1.applyImpulse(j * cpd->m_frictionWorldTangential0, rel_pos1);
@@ -290,8 +296,8 @@ btScalar resolveSingleFrictionOriginal(
// calculate j that moves us to zero relative velocity
btScalar j = -vrel * cpd->m_jacDiagABInvTangent1;
btScalar total = cpd->m_accumulatedTangentImpulse1 + j;
- GEN_set_min(total, limit);
- GEN_set_max(total, -limit);
+ btSetMin(total, limit);
+ btSetMax(total, -limit);
j = total - cpd->m_accumulatedTangentImpulse1;
cpd->m_accumulatedTangentImpulse1 = total;
body1.applyImpulse(j * cpd->m_frictionWorldTangential1, rel_pos1);
@@ -388,8 +394,8 @@ btScalar resolveSingleCollisionCombined(
(body1.getInvMass() + body2.getInvMass() + lat_vel.dot(temp1.cross(rel_pos1) + temp2.cross(rel_pos2)));
btScalar normal_impulse = cpd->m_appliedImpulse * combinedFriction;
- GEN_set_min(friction_impulse, normal_impulse);
- GEN_set_max(friction_impulse, -normal_impulse);
+ btSetMin(friction_impulse, normal_impulse);
+ btSetMax(friction_impulse, -normal_impulse);
body1.applyImpulse(lat_vel * -friction_impulse, rel_pos1);
body2.applyImpulse(lat_vel * friction_impulse, rel_pos2);
}
@@ -404,6 +410,12 @@ btScalar resolveSingleFrictionEmpty(
btRigidBody& body1,
btRigidBody& body2,
btManifoldPoint& contactPoint,
+ const btContactSolverInfo& solverInfo);
+
+btScalar resolveSingleFrictionEmpty(
+ btRigidBody& body1,
+ btRigidBody& body2,
+ btManifoldPoint& contactPoint,
const btContactSolverInfo& solverInfo)
{
(void)contactPoint;