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path: root/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactConstraint.cpp
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Diffstat (limited to 'extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactConstraint.cpp')
-rw-r--r--extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactConstraint.cpp100
1 files changed, 58 insertions, 42 deletions
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactConstraint.cpp b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactConstraint.cpp
index 1b85a0eea42..bb3fe832592 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactConstraint.cpp
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactConstraint.cpp
@@ -30,13 +30,17 @@ subject to the following restrictions:
//bilateral constraint between two dynamic objects
void resolveSingleBilateral(btRigidBody& body1, const btVector3& pos1,
btRigidBody& body2, const btVector3& pos2,
- btScalar distance, const btVector3& normal,btScalar& impulse ,float timeStep)
+ btScalar distance, const btVector3& normal,btScalar& impulse ,btScalar timeStep)
{
- float normalLenSqr = normal.length2();
- ASSERT2(fabs(normalLenSqr) < 1.1f);
- if (normalLenSqr > 1.1f)
+ (void)timeStep;
+ (void)distance;
+
+
+ btScalar normalLenSqr = normal.length2();
+ ASSERT2(btFabs(normalLenSqr) < btScalar(1.1));
+ if (normalLenSqr > btScalar(1.1))
{
- impulse = 0.f;
+ impulse = btScalar(0.);
return;
}
btVector3 rel_pos1 = pos1 - body1.getCenterOfMassPosition();
@@ -54,24 +58,24 @@ void resolveSingleBilateral(btRigidBody& body1, const btVector3& pos1,
body2.getInvInertiaDiagLocal(),body2.getInvMass());
btScalar jacDiagAB = jac.getDiagonal();
- btScalar jacDiagABInv = 1.f / jacDiagAB;
+ btScalar jacDiagABInv = btScalar(1.) / jacDiagAB;
btScalar rel_vel = jac.getRelativeVelocity(
body1.getLinearVelocity(),
body1.getCenterOfMassTransform().getBasis().transpose() * body1.getAngularVelocity(),
body2.getLinearVelocity(),
body2.getCenterOfMassTransform().getBasis().transpose() * body2.getAngularVelocity());
- float a;
+ btScalar a;
a=jacDiagABInv;
rel_vel = normal.dot(vel);
//todo: move this into proper structure
- btScalar contactDamping = 0.2f;
+ btScalar contactDamping = btScalar(0.2);
#ifdef ONLY_USE_LINEAR_MASS
- btScalar massTerm = 1.f / (body1.getInvMass() + body2.getInvMass());
+ btScalar massTerm = btScalar(1.) / (body1.getInvMass() + body2.getInvMass());
impulse = - contactDamping * rel_vel * massTerm;
#else
btScalar velocityImpulse = -contactDamping * rel_vel * jacDiagABInv;
@@ -82,19 +86,20 @@ void resolveSingleBilateral(btRigidBody& body1, const btVector3& pos1,
//response between two dynamic objects with friction
-float resolveSingleCollision(
+btScalar resolveSingleCollision(
btRigidBody& body1,
btRigidBody& body2,
btManifoldPoint& contactPoint,
const btContactSolverInfo& solverInfo)
{
- const btVector3& pos1 = contactPoint.getPositionWorldOnA();
- const btVector3& pos2 = contactPoint.getPositionWorldOnB();
+ const btVector3& pos1_ = contactPoint.getPositionWorldOnA();
+ const btVector3& pos2_ = contactPoint.getPositionWorldOnB();
const btVector3& normal = contactPoint.m_normalWorldOnB;
- btVector3 rel_pos1 = pos1 - body1.getCenterOfMassPosition();
- btVector3 rel_pos2 = pos2 - body2.getCenterOfMassPosition();
+ //constant over all iterations
+ btVector3 rel_pos1 = pos1_ - body1.getCenterOfMassPosition();
+ btVector3 rel_pos2 = pos2_ - body2.getCenterOfMassPosition();
btVector3 vel1 = body1.getVelocityInLocalPoint(rel_pos1);
btVector3 vel2 = body2.getVelocityInLocalPoint(rel_pos2);
@@ -102,11 +107,11 @@ float resolveSingleCollision(
btScalar rel_vel;
rel_vel = normal.dot(vel);
- btScalar Kfps = 1.f / solverInfo.m_timeStep ;
+ btScalar Kfps = btScalar(1.) / solverInfo.m_timeStep ;
- // float damping = solverInfo.m_damping ;
- float Kerp = solverInfo.m_erp;
- float Kcor = Kerp *Kfps;
+ // btScalar damping = solverInfo.m_damping ;
+ btScalar Kerp = solverInfo.m_erp;
+ btScalar Kcor = Kerp *Kfps;
btConstraintPersistentData* cpd = (btConstraintPersistentData*) contactPoint.m_userPersistentData;
assert(cpd);
@@ -121,9 +126,9 @@ float resolveSingleCollision(
btScalar normalImpulse = penetrationImpulse+velocityImpulse;
// See Erin Catto's GDC 2006 paper: Clamp the accumulated impulse
- float oldNormalImpulse = cpd->m_appliedImpulse;
- float sum = oldNormalImpulse + normalImpulse;
- cpd->m_appliedImpulse = 0.f > sum ? 0.f: sum;
+ btScalar oldNormalImpulse = cpd->m_appliedImpulse;
+ btScalar sum = oldNormalImpulse + normalImpulse;
+ cpd->m_appliedImpulse = btScalar(0.) > sum ? btScalar(0.): sum;
normalImpulse = cpd->m_appliedImpulse - oldNormalImpulse;
@@ -145,13 +150,15 @@ float resolveSingleCollision(
}
-float resolveSingleFriction(
+btScalar resolveSingleFriction(
btRigidBody& body1,
btRigidBody& body2,
btManifoldPoint& contactPoint,
const btContactSolverInfo& solverInfo)
{
+ (void)solverInfo;
+
const btVector3& pos1 = contactPoint.getPositionWorldOnA();
const btVector3& pos2 = contactPoint.getPositionWorldOnB();
@@ -161,11 +168,11 @@ float resolveSingleFriction(
btConstraintPersistentData* cpd = (btConstraintPersistentData*) contactPoint.m_userPersistentData;
assert(cpd);
- float combinedFriction = cpd->m_friction;
+ btScalar combinedFriction = cpd->m_friction;
btScalar limit = cpd->m_appliedImpulse * combinedFriction;
- if (cpd->m_appliedImpulse>0.f)
+ if (cpd->m_appliedImpulse>btScalar(0.))
//friction
{
//apply friction in the 2 tangential directions
@@ -183,7 +190,7 @@ float resolveSingleFriction(
// calculate j that moves us to zero relative velocity
j1 = -vrel * cpd->m_jacDiagABInvTangent0;
- float oldTangentImpulse = cpd->m_accumulatedTangentImpulse0;
+ btScalar oldTangentImpulse = cpd->m_accumulatedTangentImpulse0;
cpd->m_accumulatedTangentImpulse0 = oldTangentImpulse + j1;
GEN_set_min(cpd->m_accumulatedTangentImpulse0, limit);
GEN_set_max(cpd->m_accumulatedTangentImpulse0, -limit);
@@ -197,7 +204,7 @@ float resolveSingleFriction(
// calculate j that moves us to zero relative velocity
j2 = -vrel * cpd->m_jacDiagABInvTangent1;
- float oldTangentImpulse = cpd->m_accumulatedTangentImpulse1;
+ btScalar oldTangentImpulse = cpd->m_accumulatedTangentImpulse1;
cpd->m_accumulatedTangentImpulse1 = oldTangentImpulse + j2;
GEN_set_min(cpd->m_accumulatedTangentImpulse1, limit);
GEN_set_max(cpd->m_accumulatedTangentImpulse1, -limit);
@@ -226,13 +233,15 @@ float resolveSingleFriction(
}
-float resolveSingleFrictionOriginal(
+btScalar resolveSingleFrictionOriginal(
btRigidBody& body1,
btRigidBody& body2,
btManifoldPoint& contactPoint,
const btContactSolverInfo& solverInfo)
{
+ (void)solverInfo;
+
const btVector3& pos1 = contactPoint.getPositionWorldOnA();
const btVector3& pos2 = contactPoint.getPositionWorldOnB();
@@ -242,10 +251,10 @@ float resolveSingleFrictionOriginal(
btConstraintPersistentData* cpd = (btConstraintPersistentData*) contactPoint.m_userPersistentData;
assert(cpd);
- float combinedFriction = cpd->m_friction;
+ btScalar combinedFriction = cpd->m_friction;
btScalar limit = cpd->m_appliedImpulse * combinedFriction;
- //if (contactPoint.m_appliedImpulse>0.f)
+ //if (contactPoint.m_appliedImpulse>btScalar(0.))
//friction
{
//apply friction in the 2 tangential directions
@@ -260,7 +269,7 @@ float resolveSingleFrictionOriginal(
// calculate j that moves us to zero relative velocity
btScalar j = -vrel * cpd->m_jacDiagABInvTangent0;
- float total = cpd->m_accumulatedTangentImpulse0 + j;
+ btScalar total = cpd->m_accumulatedTangentImpulse0 + j;
GEN_set_min(total, limit);
GEN_set_max(total, -limit);
j = total - cpd->m_accumulatedTangentImpulse0;
@@ -280,7 +289,7 @@ float resolveSingleFrictionOriginal(
// calculate j that moves us to zero relative velocity
btScalar j = -vrel * cpd->m_jacDiagABInvTangent1;
- float total = cpd->m_accumulatedTangentImpulse1 + j;
+ btScalar total = cpd->m_accumulatedTangentImpulse1 + j;
GEN_set_min(total, limit);
GEN_set_max(total, -limit);
j = total - cpd->m_accumulatedTangentImpulse1;
@@ -295,7 +304,7 @@ float resolveSingleFrictionOriginal(
//velocity + friction
//response between two dynamic objects with friction
-float resolveSingleCollisionCombined(
+btScalar resolveSingleCollisionCombined(
btRigidBody& body1,
btRigidBody& body2,
btManifoldPoint& contactPoint,
@@ -315,11 +324,11 @@ float resolveSingleCollisionCombined(
btScalar rel_vel;
rel_vel = normal.dot(vel);
- btScalar Kfps = 1.f / solverInfo.m_timeStep ;
+ btScalar Kfps = btScalar(1.) / solverInfo.m_timeStep ;
- //float damping = solverInfo.m_damping ;
- float Kerp = solverInfo.m_erp;
- float Kcor = Kerp *Kfps;
+ //btScalar damping = solverInfo.m_damping ;
+ btScalar Kerp = solverInfo.m_erp;
+ btScalar Kcor = Kerp *Kfps;
btConstraintPersistentData* cpd = (btConstraintPersistentData*) contactPoint.m_userPersistentData;
assert(cpd);
@@ -334,9 +343,9 @@ float resolveSingleCollisionCombined(
btScalar normalImpulse = penetrationImpulse+velocityImpulse;
// See Erin Catto's GDC 2006 paper: Clamp the accumulated impulse
- float oldNormalImpulse = cpd->m_appliedImpulse;
- float sum = oldNormalImpulse + normalImpulse;
- cpd->m_appliedImpulse = 0.f > sum ? 0.f: sum;
+ btScalar oldNormalImpulse = cpd->m_appliedImpulse;
+ btScalar sum = oldNormalImpulse + normalImpulse;
+ cpd->m_appliedImpulse = btScalar(0.) > sum ? btScalar(0.): sum;
normalImpulse = cpd->m_appliedImpulse - oldNormalImpulse;
@@ -367,7 +376,7 @@ float resolveSingleCollisionCombined(
btVector3 lat_vel = vel - normal * rel_vel;
btScalar lat_rel_vel = lat_vel.length();
- float combinedFriction = cpd->m_friction;
+ btScalar combinedFriction = cpd->m_friction;
if (cpd->m_appliedImpulse > 0)
if (lat_rel_vel > SIMD_EPSILON)
@@ -390,12 +399,19 @@ float resolveSingleCollisionCombined(
return normalImpulse;
}
-float resolveSingleFrictionEmpty(
+
+btScalar resolveSingleFrictionEmpty(
btRigidBody& body1,
btRigidBody& body2,
btManifoldPoint& contactPoint,
const btContactSolverInfo& solverInfo)
{
- return 0.f;
+ (void)contactPoint;
+ (void)body1;
+ (void)body2;
+ (void)solverInfo;
+
+
+ return btScalar(0.);
};
generated by cgit v1.2.3 (git 2.25.1) at 2024-07-09 03:41:54 +0300