diff options
author | Sergej Reich <sergej.reich@googlemail.com> | 2013-11-23 20:17:12 +0400 |
---|---|---|
committer | Sergej Reich <sergej.reich@googlemail.com> | 2013-11-23 20:17:12 +0400 |
commit | 39dc956f593b3406bf1d81fb83c557b7b51f5327 (patch) | |
tree | 50b59815aad48902a6563aefc8b944daf34c401e /extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h | |
parent | 5d5176095e82b34499e15d74f1fb76d56f4d9508 (diff) | |
parent | d846c9a3b75c3d6f20bc7ab7d2da6cdd18bbbef2 (diff) |
Merge branch 'master' into soc-2013-rigid_body_simsoc-2013-rigid_body_sim
Conflicts:
intern/rigidbody/CMakeLists.txt
release/datafiles/splash.png
source/blender/editors/space_view3d/drawobject.c
source/blender/makesdna/DNA_view3d_types.h
Diffstat (limited to 'extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h')
-rw-r--r-- | extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h | 31 |
1 files changed, 19 insertions, 12 deletions
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h index 2eea6be0db2..180d2a385d3 100644 --- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h @@ -18,7 +18,6 @@ subject to the following restrictions: class btIDebugDraw; class btPersistentManifold; -class btStackAlloc; class btDispatcher; class btCollisionObject; #include "BulletDynamics/ConstraintSolver/btTypedConstraint.h" @@ -43,7 +42,7 @@ protected: btAlignedObjectArray<int> m_orderFrictionConstraintPool; btAlignedObjectArray<btTypedConstraint::btConstraintInfo1> m_tmpConstraintSizesPool; int m_maxOverrideNumSolverIterations; - + int m_fixedBodyId; void setupFrictionConstraint( btSolverConstraint& solverConstraint, const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB, btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2, btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, @@ -57,10 +56,11 @@ protected: btSolverConstraint& addFrictionConstraint(const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,int frictionIndex,btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, btScalar desiredVelocity=0., btScalar cfmSlip=0.); btSolverConstraint& addRollingFrictionConstraint(const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,int frictionIndex,btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, btScalar desiredVelocity=0, btScalar cfmSlip=0.f); - + void setupContactConstraint(btSolverConstraint& solverConstraint, int solverBodyIdA, int solverBodyIdB, btManifoldPoint& cp, - const btContactSolverInfo& infoGlobal, btVector3& vel, btScalar& rel_vel, btScalar& relaxation, - btVector3& rel_pos1, btVector3& rel_pos2); + const btContactSolverInfo& infoGlobal,btScalar& relaxation, const btVector3& rel_pos1, const btVector3& rel_pos2); + + static void applyAnisotropicFriction(btCollisionObject* colObj,btVector3& frictionDirection, int frictionMode); void setFrictionConstraintImpulse( btSolverConstraint& solverConstraint, int solverBodyIdA,int solverBodyIdB, btManifoldPoint& cp, const btContactSolverInfo& infoGlobal); @@ -71,6 +71,8 @@ protected: btScalar restitutionCurve(btScalar rel_vel, btScalar restitution); + virtual void convertContacts(btPersistentManifold** manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal); + void convertContact(btPersistentManifold* manifold,const btContactSolverInfo& infoGlobal); @@ -83,8 +85,8 @@ protected: const btSolverConstraint& contactConstraint); //internal method - int getOrInitSolverBody(btCollisionObject& body); - void initSolverBody(btSolverBody* solverBody, btCollisionObject* collisionObject); + int getOrInitSolverBody(btCollisionObject& body,btScalar timeStep); + void initSolverBody(btSolverBody* solverBody, btCollisionObject* collisionObject, btScalar timeStep); void resolveSingleConstraintRowGeneric(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint); @@ -97,12 +99,12 @@ protected: protected: - virtual void solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc); + virtual void solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer); virtual btScalar solveGroupCacheFriendlyFinish(btCollisionObject** bodies,int numBodies,const btContactSolverInfo& infoGlobal); - btScalar solveSingleIteration(int iteration, btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc); + virtual btScalar solveSingleIteration(int iteration, btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer); - virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc); - virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc); + virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer); + virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer); public: @@ -112,7 +114,7 @@ public: btSequentialImpulseConstraintSolver(); virtual ~btSequentialImpulseConstraintSolver(); - virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btStackAlloc* stackAlloc,btDispatcher* dispatcher); + virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer,btDispatcher* dispatcher); @@ -132,6 +134,11 @@ public: return m_btSeed2; } + + virtual btConstraintSolverType getSolverType() const + { + return BT_SEQUENTIAL_IMPULSE_SOLVER; + } }; |