diff options
author | Erwin Coumans <blender@erwincoumans.com> | 2005-07-28 16:21:55 +0400 |
---|---|---|
committer | Erwin Coumans <blender@erwincoumans.com> | 2005-07-28 16:21:55 +0400 |
commit | b5ec3efeaf4ac7698117393046c72db0273c33f1 (patch) | |
tree | 3bf191e49ae400036eb3467a5a71ab41de61bf53 /extern/bullet | |
parent | d501f56e96a5258dca09b1f75f475ef290445c22 (diff) |
removed duplicate testing files
Diffstat (limited to 'extern/bullet')
-rw-r--r-- | extern/bullet/BulletDynamics/ConstraintSolver/OdeConstraintSolver2.cpp | 246 | ||||
-rw-r--r-- | extern/bullet/BulletDynamics/ConstraintSolver/OdeConstraintSolver2.h | 31 |
2 files changed, 0 insertions, 277 deletions
diff --git a/extern/bullet/BulletDynamics/ConstraintSolver/OdeConstraintSolver2.cpp b/extern/bullet/BulletDynamics/ConstraintSolver/OdeConstraintSolver2.cpp deleted file mode 100644 index 4b343251f03..00000000000 --- a/extern/bullet/BulletDynamics/ConstraintSolver/OdeConstraintSolver2.cpp +++ /dev/null @@ -1,246 +0,0 @@ -/* - * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com - * - * Permission to use, copy, modify, distribute and sell this software - * and its documentation for any purpose is hereby granted without fee, - * provided that the above copyright notice appear in all copies. - * Erwin Coumans makes no representations about the suitability - * of this software for any purpose. - * It is provided "as is" without express or implied warranty. -*/ - -#include "OdeConstraintSolver.h" - -#include "NarrowPhaseCollision/PersistentManifold.h" -#include "Dynamics/RigidBody.h" -#include "ContactConstraint.h" -#include "Solve2LinearConstraint.h" -#include "ContactSolverInfo.h" -#include "Dynamics/BU_Joint.h" -#include "Dynamics/ContactJoint.h" - -#define USE_SOR_SOLVER - -#include "SorLcp.h" - -#include <math.h> -#include <float.h>//FLT_MAX -#ifdef WIN32 -#include <memory.h> -#endif -#include <string.h> -#include <stdio.h> - -#ifdef WIN32 -#include <malloc.h> -#else -#include <alloca.h> -#endif - -class BU_Joint; - -//see below - -int gCurBody = 0; -int gCurJoint= 0; - -int ConvertBody(RigidBody* body,RigidBody** bodies,int& numBodies); -void ConvertConstraint(PersistentManifold* manifold,BU_Joint** joints,int& numJoints, - RigidBody** bodies,int bodyId0,int bodyId1); - - - - - -//iterative lcp and penalty method -float OdeConstraintSolver::SolveGroup(PersistentManifold** manifoldPtr, int numManifolds,const ContactSolverInfo& infoGlobal) -{ - gCurBody = 0; - gCurJoint = 0; - - float cfm = 1e-5f; - float erp = 0.2f; - - RigidBody* bodies [128]; - - int numBodies = 0; - BU_Joint* joints [128*5]; - int numJoints = 0; - - for (int j=0;j<numManifolds;j++) - { - - int body0=-1,body1=-1; - - PersistentManifold* manifold = manifoldPtr[j]; - if (manifold->GetNumContacts() > 0) - { - body0 = ConvertBody((RigidBody*)manifold->GetBody0(),bodies,numBodies); - body1 = ConvertBody((RigidBody*)manifold->GetBody1(),bodies,numBodies); - ConvertConstraint(manifold,joints,numJoints,bodies,body0,body1); - } - } - - SolveInternal1(cfm,erp,bodies,numBodies,joints,numJoints,infoGlobal); - - return 0.f; - -} - -///////////////////////////////////////////////////////////////////////////////// - - -typedef SimdScalar dQuaternion[4]; -#define _R(i,j) R[(i)*4+(j)] - -void dRfromQ1 (dMatrix3 R, const dQuaternion q) -{ - // q = (s,vx,vy,vz) - SimdScalar qq1 = 2*q[1]*q[1]; - SimdScalar qq2 = 2*q[2]*q[2]; - SimdScalar qq3 = 2*q[3]*q[3]; - _R(0,0) = 1 - qq2 - qq3; - _R(0,1) = 2*(q[1]*q[2] - q[0]*q[3]); - _R(0,2) = 2*(q[1]*q[3] + q[0]*q[2]); - _R(1,0) = 2*(q[1]*q[2] + q[0]*q[3]); - _R(1,1) = 1 - qq1 - qq3; - _R(1,2) = 2*(q[2]*q[3] - q[0]*q[1]); - _R(2,0) = 2*(q[1]*q[3] - q[0]*q[2]); - _R(2,1) = 2*(q[2]*q[3] + q[0]*q[1]); - _R(2,2) = 1 - qq1 - qq2; -} - - - -int ConvertBody(RigidBody* body,RigidBody** bodies,int& numBodies) -{ - if (!body || (body->getInvMass() == 0.f) ) - { - return -1; - } - //first try to find - int i,j; - for (i=0;i<numBodies;i++) - { - if (bodies[i] == body) - return i; - } - //if not found, create a new body - bodies[numBodies++] = body; - //convert data - - - body->m_facc.setValue(0,0,0); - body->m_tacc.setValue(0,0,0); - - //are the indices the same ? - for (i=0;i<4;i++) - { - for ( j=0;j<3;j++) - { - body->m_invI[i+4*j] = 0.f; - } - } - body->m_invI[0+4*0] = body->getInvInertiaDiagLocal()[0]; - body->m_invI[1+4*1] = body->getInvInertiaDiagLocal()[1]; - body->m_invI[2+4*2] = body->getInvInertiaDiagLocal()[2]; - - - SimdMatrix3x3 invI; - invI.setIdentity(); - invI[0][0] = body->getInvInertiaDiagLocal()[0]; - invI[1][1] = body->getInvInertiaDiagLocal()[1]; - invI[2][2] = body->getInvInertiaDiagLocal()[2]; - SimdMatrix3x3 inertia = invI.inverse(); - - for (i=0;i<3;i++) - { - for (j=0;j<3;j++) - { - body->m_I[i+4*j] = inertia[i][j]; - } - } - body->m_I[3+0*4] = 0.f; - body->m_I[3+1*4] = 0.f; - body->m_I[3+2*4] = 0.f; - body->m_I[3+3*4] = 0.f; - - - dQuaternion q; - - q[1] = body->getOrientation()[0]; - q[2] = body->getOrientation()[1]; - q[3] = body->getOrientation()[2]; - q[0] = body->getOrientation()[3]; - - dRfromQ1(body->m_R,q); - - return numBodies-1; -} - - - - - -#define MAX_JOINTS_1 8192 - -static ContactJoint gJointArray[MAX_JOINTS_1]; - - -void ConvertConstraint(PersistentManifold* manifold,BU_Joint** joints,int& numJoints, - RigidBody** bodies,int _bodyId0,int _bodyId1) -{ - - - manifold->RefreshContactPoints(((RigidBody*)manifold->GetBody0())->getCenterOfMassTransform(), - ((RigidBody*)manifold->GetBody1())->getCenterOfMassTransform()); - - int bodyId0 = _bodyId0,bodyId1 = _bodyId1; - - int i,numContacts = manifold->GetNumContacts(); - - bool swapBodies = (bodyId0 < 0); - - - RigidBody* body0,*body1; - - if (swapBodies) - { - bodyId0 = _bodyId1; - bodyId1 = _bodyId0; - - body0 = (RigidBody*)manifold->GetBody1(); - body1 = (RigidBody*)manifold->GetBody0(); - - } else - { - body0 = (RigidBody*)manifold->GetBody0(); - body1 = (RigidBody*)manifold->GetBody1(); - } - - assert(bodyId0 >= 0); - - for (i=0;i<numContacts;i++) - { - - assert (gCurJoint < MAX_JOINTS_1); - - ContactJoint* cont = new (&gJointArray[gCurJoint++]) ContactJoint( manifold ,i, swapBodies,body0,body1); - - cont->node[0].joint = cont; - cont->node[0].body = bodyId0 >= 0 ? bodies[bodyId0] : 0; - - cont->node[1].joint = cont; - cont->node[1].body = bodyId1 >= 0 ? bodies[bodyId1] : 0; - - joints[numJoints++] = cont; - for (int i=0;i<6;i++) - cont->lambda[i] = 0.f; - - cont->flags = 0; - - } - - //create a new contact constraint -}; - diff --git a/extern/bullet/BulletDynamics/ConstraintSolver/OdeConstraintSolver2.h b/extern/bullet/BulletDynamics/ConstraintSolver/OdeConstraintSolver2.h deleted file mode 100644 index 7ae8d0eaa49..00000000000 --- a/extern/bullet/BulletDynamics/ConstraintSolver/OdeConstraintSolver2.h +++ /dev/null @@ -1,31 +0,0 @@ -/* - * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com - * - * Permission to use, copy, modify, distribute and sell this software - * and its documentation for any purpose is hereby granted without fee, - * provided that the above copyright notice appear in all copies. - * Erwin Coumans makes no representations about the suitability - * of this software for any purpose. - * It is provided "as is" without express or implied warranty. -*/ -#ifndef ODE_CONSTRAINT_SOLVER_H -#define ODE_CONSTRAINT_SOLVER_H - -#include "ConstraintSolver.h" - - -class OdeConstraintSolver : public ConstraintSolver -{ - -public: - - virtual ~OdeConstraintSolver() {} - - virtual float SolveGroup(PersistentManifold** manifold,int numManifolds,const ContactSolverInfo& info); - -}; - - - - -#endif //ODE_CONSTRAINT_SOLVER_H |