diff options
Diffstat (limited to 'extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp')
-rw-r--r-- | extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp | 78 |
1 files changed, 42 insertions, 36 deletions
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp index b2132a8d4f3..747d10d1f8b 100644 --- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp @@ -17,8 +17,9 @@ subject to the following restrictions: #include "btGeneric6DofConstraint.h" #include "BulletDynamics/Dynamics/btRigidBody.h" #include "LinearMath/btTransformUtil.h" +#include <new> -static const btScalar kSign[] = { 1.0f, -1.0f, 1.0f }; +static const btScalar kSign[] = { btScalar(1.0), btScalar(-1.0), btScalar(1.0) }; static const int kAxisA[] = { 1, 0, 0 }; static const int kAxisB[] = { 2, 2, 1 }; #define GENERIC_D6_DISABLE_WARMSTARTING 1 @@ -38,9 +39,9 @@ btGeneric6DofConstraint::btGeneric6DofConstraint(btRigidBody& rbA, btRigidBody& //so start all locked for (int i=0; i<6;++i) { - m_lowerLimit[i] = 0.0f; - m_upperLimit[i] = 0.0f; - m_accumulatedImpulse[i] = 0.0f; + m_lowerLimit[i] = btScalar(0.0); + m_upperLimit[i] = btScalar(0.0); + m_accumulatedImpulse[i] = btScalar(0.0); } } @@ -83,7 +84,7 @@ void btGeneric6DofConstraint::buildJacobian() //optionally disable warmstarting #ifdef GENERIC_D6_DISABLE_WARMSTARTING - m_accumulatedImpulse[i] = 0.f; + m_accumulatedImpulse[i] = btScalar(0.); #endif //GENERIC_D6_DISABLE_WARMSTARTING // Apply accumulated impulse @@ -115,7 +116,7 @@ void btGeneric6DofConstraint::buildJacobian() m_rbB.getInvInertiaDiagLocal()); #ifdef GENERIC_D6_DISABLE_WARMSTARTING - m_accumulatedImpulse[i + 3] = 0.f; + m_accumulatedImpulse[i + 3] = btScalar(0.); #endif //GENERIC_D6_DISABLE_WARMSTARTING // Apply accumulated impulse @@ -127,7 +128,7 @@ void btGeneric6DofConstraint::buildJacobian() } } -float getMatrixElem(const btMatrix3x3& mat,int index) +btScalar getMatrixElem(const btMatrix3x3& mat,int index) { int row = index%3; int col = index / 3; @@ -143,9 +144,9 @@ bool MatrixToEulerXYZ(const btMatrix3x3& mat,btVector3& xyz) /// 0..8 - if (getMatrixElem(mat,2) < 1.0f) + if (getMatrixElem(mat,2) < btScalar(1.0)) { - if (getMatrixElem(mat,2) > -1.0f) + if (getMatrixElem(mat,2) > btScalar(-1.0)) { xyz[0] = btAtan2(-getMatrixElem(mat,5),getMatrixElem(mat,8)); xyz[1] = btAsin(getMatrixElem(mat,2)); @@ -157,7 +158,7 @@ bool MatrixToEulerXYZ(const btMatrix3x3& mat,btVector3& xyz) // WARNING. Not unique. XA - ZA = -atan2(r10,r11) xyz[0] = -btAtan2(getMatrixElem(mat,3),getMatrixElem(mat,4)); xyz[1] = -SIMD_HALF_PI; - xyz[2] = 0.0f; + xyz[2] = btScalar(0.0); return false; } } @@ -167,16 +168,17 @@ bool MatrixToEulerXYZ(const btMatrix3x3& mat,btVector3& xyz) xyz[0] = btAtan2(getMatrixElem(mat,3),getMatrixElem(mat,4)); xyz[1] = SIMD_HALF_PI; xyz[2] = 0.0; - return false; + } - return false; + + return false; } void btGeneric6DofConstraint::solveConstraint(btScalar timeStep) { - btScalar tau = 0.1f; - btScalar damping = 1.0f; + btScalar tau = btScalar(0.1); + btScalar damping = btScalar(1.0); btVector3 pivotAInW = m_rbA.getCenterOfMassTransform() * m_frameInA.getOrigin(); btVector3 pivotBInW = m_rbB.getCenterOfMassTransform() * m_frameInB.getOrigin(); @@ -199,7 +201,7 @@ void btGeneric6DofConstraint::solveConstraint(btScalar timeStep) localNormalInA[i] = 1; btVector3 normalWorld = m_rbA.getCenterOfMassTransform().getBasis() * localNormalInA; - btScalar jacDiagABInv = 1.f / m_jacLinear[i].getDiagonal(); + btScalar jacDiagABInv = btScalar(1.) / m_jacLinear[i].getDiagonal(); //velocity error (first order error) btScalar rel_vel = m_jacLinear[i].getRelativeVelocity(m_rbA.getLinearVelocity(),angvelA, @@ -207,8 +209,8 @@ void btGeneric6DofConstraint::solveConstraint(btScalar timeStep) //positional error (zeroth order error) btScalar depth = -(pivotAInW - pivotBInW).dot(normalWorld); - btScalar lo = -1e30f; - btScalar hi = 1e30f; + btScalar lo = btScalar(-1e30); + btScalar hi = btScalar(1e30); //handle the limits if (m_lowerLimit[i] < m_upperLimit[i]) @@ -217,14 +219,14 @@ void btGeneric6DofConstraint::solveConstraint(btScalar timeStep) if (depth > m_upperLimit[i]) { depth -= m_upperLimit[i]; - lo = 0.f; + lo = btScalar(0.); } else { if (depth < m_lowerLimit[i]) { depth -= m_lowerLimit[i]; - hi = 0.f; + hi = btScalar(0.); } else { continue; @@ -234,9 +236,9 @@ void btGeneric6DofConstraint::solveConstraint(btScalar timeStep) } btScalar normalImpulse= (tau*depth/timeStep - damping*rel_vel) * jacDiagABInv; - float oldNormalImpulse = m_accumulatedImpulse[i]; - float sum = oldNormalImpulse + normalImpulse; - m_accumulatedImpulse[i] = sum > hi ? 0.f : sum < lo ? 0.f : sum; + btScalar oldNormalImpulse = m_accumulatedImpulse[i]; + btScalar sum = oldNormalImpulse + normalImpulse; + m_accumulatedImpulse[i] = sum > hi ? btScalar(0.) : sum < lo ? btScalar(0.) : sum; normalImpulse = m_accumulatedImpulse[i] - oldNormalImpulse; btVector3 impulse_vector = normalWorld * normalImpulse; @@ -267,7 +269,7 @@ void btGeneric6DofConstraint::solveConstraint(btScalar timeStep) btVector3 angvelA = m_rbA.getCenterOfMassTransform().getBasis().transpose() * m_rbA.getAngularVelocity(); btVector3 angvelB = m_rbB.getCenterOfMassTransform().getBasis().transpose() * m_rbB.getAngularVelocity(); - btScalar jacDiagABInv = 1.f / m_jacAng[i].getDiagonal(); + btScalar jacDiagABInv = btScalar(1.) / m_jacAng[i].getDiagonal(); //velocity error (first order error) btScalar rel_vel = m_jacAng[i].getRelativeVelocity(m_rbA.getLinearVelocity(),angvelA, @@ -279,27 +281,27 @@ void btGeneric6DofConstraint::solveConstraint(btScalar timeStep) btScalar rel_pos = kSign[i] * axisA.dot(axisB); - btScalar lo = -1e30f; - btScalar hi = 1e30f; + btScalar lo = btScalar(-1e30); + btScalar hi = btScalar(1e30); //handle the twist limit if (m_lowerLimit[i+3] < m_upperLimit[i+3]) { //clamp the values - btScalar loLimit = m_upperLimit[i+3] > -3.1415 ? m_lowerLimit[i+3] : -1e30f; - btScalar hiLimit = m_upperLimit[i+3] < 3.1415 ? m_upperLimit[i+3] : 1e30f; + btScalar loLimit = m_lowerLimit[i+3] > -3.1415 ? m_lowerLimit[i+3] : btScalar(-1e30); + btScalar hiLimit = m_upperLimit[i+3] < 3.1415 ? m_upperLimit[i+3] : btScalar(1e30); - float projAngle = -2.f*xyz[i]; + btScalar projAngle = btScalar(-1.)*xyz[i]; if (projAngle < loLimit) { - hi = 0.f; + hi = btScalar(0.); rel_pos = (loLimit - projAngle); } else { if (projAngle > hiLimit) { - lo = 0.f; + lo = btScalar(0.); rel_pos = (hiLimit - projAngle); } else { @@ -311,9 +313,9 @@ void btGeneric6DofConstraint::solveConstraint(btScalar timeStep) //impulse btScalar normalImpulse= -(tau*rel_pos/timeStep + damping*rel_vel) * jacDiagABInv; - float oldNormalImpulse = m_accumulatedImpulse[i+3]; - float sum = oldNormalImpulse + normalImpulse; - m_accumulatedImpulse[i+3] = sum > hi ? 0.f : sum < lo ? 0.f : sum; + btScalar oldNormalImpulse = m_accumulatedImpulse[i+3]; + btScalar sum = oldNormalImpulse + normalImpulse; + m_accumulatedImpulse[i+3] = sum > hi ? btScalar(0.) : sum < lo ? btScalar(0.) : sum; normalImpulse = m_accumulatedImpulse[i+3] - oldNormalImpulse; // Dirk: Not needed - we could actually project onto Jacobian entry here (same as above) @@ -328,12 +330,13 @@ void btGeneric6DofConstraint::solveConstraint(btScalar timeStep) void btGeneric6DofConstraint::updateRHS(btScalar timeStep) { + (void)timeStep; } btScalar btGeneric6DofConstraint::computeAngle(int axis) const { - btScalar angle; + btScalar angle = btScalar(0.f); switch (axis) { @@ -375,9 +378,12 @@ btScalar btGeneric6DofConstraint::computeAngle(int axis) const angle = btAtan2( s, c ); } break; - default: assert ( 0 ) ; break ; + default: + btAssert ( 0 ) ; + + break ; } - return angle; + return angle; } |