diff options
Diffstat (limited to 'extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.cpp')
| -rw-r--r-- | extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.cpp | 58 |
1 files changed, 36 insertions, 22 deletions
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.cpp b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.cpp index edca6c8fa08..0c7dbd668bb 100644 --- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.cpp +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.cpp @@ -43,12 +43,18 @@ void btSolve2LinearConstraint::resolveUnilateralPairConstraint( btScalar depthB, const btVector3& normalB, btScalar& imp0,btScalar& imp1) { + (void)linvelA; + (void)linvelB; + (void)angvelB; + (void)angvelA; - imp0 = 0.f; - imp1 = 0.f; - btScalar len = fabs(normalA.length())-1.f; - if (fabs(len) >= SIMD_EPSILON) + + imp0 = btScalar(0.); + imp1 = btScalar(0.); + + btScalar len = btFabs(normalA.length()) - btScalar(1.); + if (btFabs(len) >= SIMD_EPSILON) return; btAssert(len < SIMD_EPSILON); @@ -67,7 +73,7 @@ void btSolve2LinearConstraint::resolveUnilateralPairConstraint( const btScalar vel1 = normalB.dot(body1->getVelocityInLocalPoint(rel_posB1)-body2->getVelocityInLocalPoint(rel_posB1)); // btScalar penetrationImpulse = (depth*contactTau*timeCorrection) * massTerm;//jacDiagABInv - btScalar massTerm = 1.f / (invMassA + invMassB); + btScalar massTerm = btScalar(1.) / (invMassA + invMassB); // calculate rhs (or error) terms @@ -87,7 +93,7 @@ void btSolve2LinearConstraint::resolveUnilateralPairConstraint( btScalar nonDiag = jacA.getNonDiagonal(jacB,invMassA,invMassB); - btScalar invDet = 1.0f / (jacA.getDiagonal() * jacB.getDiagonal() - nonDiag * nonDiag ); + btScalar invDet = btScalar(1.0) / (jacA.getDiagonal() * jacB.getDiagonal() - nonDiag * nonDiag ); //imp0 = dv0 * jacA.getDiagonal() * invDet + dv1 * -nonDiag * invDet; //imp1 = dv1 * jacB.getDiagonal() * invDet + dv0 * - nonDiag * invDet; @@ -126,11 +132,18 @@ void btSolve2LinearConstraint::resolveBilateralPairConstraint( btScalar& imp0,btScalar& imp1) { - imp0 = 0.f; - imp1 = 0.f; + (void)linvelA; + (void)linvelB; + (void)angvelA; + (void)angvelB; + + - btScalar len = fabs(normalA.length())-1.f; - if (fabs(len) >= SIMD_EPSILON) + imp0 = btScalar(0.); + imp1 = btScalar(0.); + + btScalar len = btFabs(normalA.length()) - btScalar(1.); + if (btFabs(len) >= SIMD_EPSILON) return; btAssert(len < SIMD_EPSILON); @@ -164,7 +177,7 @@ void btSolve2LinearConstraint::resolveBilateralPairConstraint( btScalar nonDiag = jacA.getNonDiagonal(jacB,invMassA,invMassB); - btScalar invDet = 1.0f / (jacA.getDiagonal() * jacB.getDiagonal() - nonDiag * nonDiag ); + btScalar invDet = btScalar(1.0) / (jacA.getDiagonal() * jacB.getDiagonal() - nonDiag * nonDiag ); //imp0 = dv0 * jacA.getDiagonal() * invDet + dv1 * -nonDiag * invDet; //imp1 = dv1 * jacB.getDiagonal() * invDet + dv0 * - nonDiag * invDet; @@ -178,41 +191,41 @@ void btSolve2LinearConstraint::resolveBilateralPairConstraint( //[jA nD] * [imp0] = [dv0] //[nD jB] [imp1] [dv1] - if ( imp0 > 0.0f) + if ( imp0 > btScalar(0.0)) { - if ( imp1 > 0.0f ) + if ( imp1 > btScalar(0.0) ) { //both positive } else { - imp1 = 0.f; + imp1 = btScalar(0.); // now imp0>0 imp1<0 imp0 = dv0 / jacA.getDiagonal(); - if ( imp0 > 0.0f ) + if ( imp0 > btScalar(0.0) ) { } else { - imp0 = 0.f; + imp0 = btScalar(0.); } } } else { - imp0 = 0.f; + imp0 = btScalar(0.); imp1 = dv1 / jacB.getDiagonal(); - if ( imp1 <= 0.0f ) + if ( imp1 <= btScalar(0.0) ) { - imp1 = 0.f; + imp1 = btScalar(0.); // now imp0>0 imp1<0 imp0 = dv0 / jacA.getDiagonal(); - if ( imp0 > 0.0f ) + if ( imp0 > btScalar(0.0) ) { } else { - imp0 = 0.f; + imp0 = btScalar(0.); } } else { @@ -221,7 +234,7 @@ void btSolve2LinearConstraint::resolveBilateralPairConstraint( } - +/* void btSolve2LinearConstraint::resolveAngularConstraint( const btMatrix3x3& invInertiaAWS, const btScalar invMassA, const btVector3& linvelA,const btVector3& angvelA, @@ -238,4 +251,5 @@ void btSolve2LinearConstraint::resolveAngularConstraint( const btMatrix3x3& invI { } +*/ |