diff options
Diffstat (limited to 'extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolverBody.h')
| -rw-r--r-- | extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolverBody.h | 30 |
1 files changed, 21 insertions, 9 deletions
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolverBody.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolverBody.h index 6b728959162..8de515812ee 100644 --- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolverBody.h +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolverBody.h @@ -105,17 +105,16 @@ operator+(const btSimdScalar& v1, const btSimdScalar& v2) #endif ///The btSolverBody is an internal datastructure for the constraint solver. Only necessary data is packed to increase cache coherence/performance. -ATTRIBUTE_ALIGNED16 (struct) btSolverBody +ATTRIBUTE_ALIGNED64 (struct) btSolverBodyObsolete { BT_DECLARE_ALIGNED_ALLOCATOR(); btVector3 m_deltaLinearVelocity; btVector3 m_deltaAngularVelocity; btVector3 m_angularFactor; btVector3 m_invMass; - btScalar m_friction; btRigidBody* m_originalBody; btVector3 m_pushVelocity; - //btVector3 m_turnVelocity; + btVector3 m_turnVelocity; SIMD_FORCE_INLINE void getVelocityInLocalPointObsolete(const btVector3& rel_pos, btVector3& velocity ) const @@ -145,12 +144,18 @@ ATTRIBUTE_ALIGNED16 (struct) btSolverBody } } - -/* + SIMD_FORCE_INLINE void internalApplyPushImpulse(const btVector3& linearComponent, const btVector3& angularComponent,btScalar impulseMagnitude) + { + if (m_originalBody) + { + m_pushVelocity += linearComponent*impulseMagnitude; + m_turnVelocity += angularComponent*(impulseMagnitude*m_angularFactor); + } + } void writebackVelocity() { - if (m_invMass) + if (m_originalBody) { m_originalBody->setLinearVelocity(m_originalBody->getLinearVelocity()+ m_deltaLinearVelocity); m_originalBody->setAngularVelocity(m_originalBody->getAngularVelocity()+m_deltaAngularVelocity); @@ -158,14 +163,21 @@ ATTRIBUTE_ALIGNED16 (struct) btSolverBody //m_originalBody->setCompanionId(-1); } } - */ - void writebackVelocity(btScalar timeStep=0) + + void writebackVelocity(btScalar timeStep) { + (void) timeStep; if (m_originalBody) { - m_originalBody->setLinearVelocity(m_originalBody->getLinearVelocity()+m_deltaLinearVelocity); + m_originalBody->setLinearVelocity(m_originalBody->getLinearVelocity()+ m_deltaLinearVelocity); m_originalBody->setAngularVelocity(m_originalBody->getAngularVelocity()+m_deltaAngularVelocity); + + //correct the position/orientation based on push/turn recovery + btTransform newTransform; + btTransformUtil::integrateTransform(m_originalBody->getWorldTransform(),m_pushVelocity,m_turnVelocity,timeStep,newTransform); + m_originalBody->setWorldTransform(newTransform); + //m_originalBody->setCompanionId(-1); } } |