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path: root/extern/bullet2/src/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp
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-rw-r--r--extern/bullet2/src/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp104
1 files changed, 48 insertions, 56 deletions
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp
index 736a64a1c94..ebe679c449d 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp
@@ -13,69 +13,63 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
-
#include "btTypedConstraint.h"
#include "BulletDynamics/Dynamics/btRigidBody.h"
#include "LinearMath/btSerializer.h"
-
-#define DEFAULT_DEBUGDRAW_SIZE btScalar(0.3f)
+#define DEFAULT_DEBUGDRAW_SIZE btScalar(0.05f)
btTypedConstraint::btTypedConstraint(btTypedConstraintType type, btRigidBody& rbA)
-:btTypedObject(type),
-m_userConstraintType(-1),
-m_userConstraintPtr((void*)-1),
-m_breakingImpulseThreshold(SIMD_INFINITY),
-m_isEnabled(true),
-m_needsFeedback(false),
-m_overrideNumSolverIterations(-1),
-m_rbA(rbA),
-m_rbB(getFixedBody()),
-m_appliedImpulse(btScalar(0.)),
-m_dbgDrawSize(DEFAULT_DEBUGDRAW_SIZE),
-m_jointFeedback(0)
+ : btTypedObject(type),
+ m_userConstraintType(-1),
+ m_userConstraintPtr((void*)-1),
+ m_breakingImpulseThreshold(SIMD_INFINITY),
+ m_isEnabled(true),
+ m_needsFeedback(false),
+ m_overrideNumSolverIterations(-1),
+ m_rbA(rbA),
+ m_rbB(getFixedBody()),
+ m_appliedImpulse(btScalar(0.)),
+ m_dbgDrawSize(DEFAULT_DEBUGDRAW_SIZE),
+ m_jointFeedback(0)
{
}
-
-btTypedConstraint::btTypedConstraint(btTypedConstraintType type, btRigidBody& rbA,btRigidBody& rbB)
-:btTypedObject(type),
-m_userConstraintType(-1),
-m_userConstraintPtr((void*)-1),
-m_breakingImpulseThreshold(SIMD_INFINITY),
-m_isEnabled(true),
-m_needsFeedback(false),
-m_overrideNumSolverIterations(-1),
-m_rbA(rbA),
-m_rbB(rbB),
-m_appliedImpulse(btScalar(0.)),
-m_dbgDrawSize(DEFAULT_DEBUGDRAW_SIZE),
-m_jointFeedback(0)
+btTypedConstraint::btTypedConstraint(btTypedConstraintType type, btRigidBody& rbA, btRigidBody& rbB)
+ : btTypedObject(type),
+ m_userConstraintType(-1),
+ m_userConstraintPtr((void*)-1),
+ m_breakingImpulseThreshold(SIMD_INFINITY),
+ m_isEnabled(true),
+ m_needsFeedback(false),
+ m_overrideNumSolverIterations(-1),
+ m_rbA(rbA),
+ m_rbB(rbB),
+ m_appliedImpulse(btScalar(0.)),
+ m_dbgDrawSize(DEFAULT_DEBUGDRAW_SIZE),
+ m_jointFeedback(0)
{
}
-
-
-
btScalar btTypedConstraint::getMotorFactor(btScalar pos, btScalar lowLim, btScalar uppLim, btScalar vel, btScalar timeFact)
{
- if(lowLim > uppLim)
+ if (lowLim > uppLim)
{
return btScalar(1.0f);
}
- else if(lowLim == uppLim)
+ else if (lowLim == uppLim)
{
return btScalar(0.0f);
}
btScalar lim_fact = btScalar(1.0f);
btScalar delta_max = vel / timeFact;
- if(delta_max < btScalar(0.0f))
+ if (delta_max < btScalar(0.0f))
{
- if((pos >= lowLim) && (pos < (lowLim - delta_max)))
+ if ((pos >= lowLim) && (pos < (lowLim - delta_max)))
{
lim_fact = (lowLim - pos) / delta_max;
}
- else if(pos < lowLim)
+ else if (pos < lowLim)
{
lim_fact = btScalar(0.0f);
}
@@ -84,13 +78,13 @@ btScalar btTypedConstraint::getMotorFactor(btScalar pos, btScalar lowLim, btScal
lim_fact = btScalar(1.0f);
}
}
- else if(delta_max > btScalar(0.0f))
+ else if (delta_max > btScalar(0.0f))
{
- if((pos <= uppLim) && (pos > (uppLim - delta_max)))
+ if ((pos <= uppLim) && (pos > (uppLim - delta_max)))
{
lim_fact = (uppLim - pos) / delta_max;
}
- else if(pos > uppLim)
+ else if (pos > uppLim)
{
lim_fact = btScalar(0.0f);
}
@@ -101,19 +95,19 @@ btScalar btTypedConstraint::getMotorFactor(btScalar pos, btScalar lowLim, btScal
}
else
{
- lim_fact = btScalar(0.0f);
+ lim_fact = btScalar(0.0f);
}
return lim_fact;
}
///fills the dataBuffer and returns the struct name (and 0 on failure)
-const char* btTypedConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
+const char* btTypedConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
{
- btTypedConstraintData2* tcd = (btTypedConstraintData2*) dataBuffer;
+ btTypedConstraintData2* tcd = (btTypedConstraintData2*)dataBuffer;
tcd->m_rbA = (btRigidBodyData*)serializer->getUniquePointer(&m_rbA);
tcd->m_rbB = (btRigidBodyData*)serializer->getUniquePointer(&m_rbB);
- char* name = (char*) serializer->findNameForPointer(this);
+ char* name = (char*)serializer->findNameForPointer(this);
tcd->m_name = (char*)serializer->getUniquePointer(name);
if (tcd->m_name)
{
@@ -124,10 +118,10 @@ const char* btTypedConstraint::serialize(void* dataBuffer, btSerializer* seriali
tcd->m_needsFeedback = m_needsFeedback;
tcd->m_overrideNumSolverIterations = m_overrideNumSolverIterations;
tcd->m_breakingImpulseThreshold = m_breakingImpulseThreshold;
- tcd->m_isEnabled = m_isEnabled? 1: 0;
-
- tcd->m_userConstraintId =m_userConstraintId;
- tcd->m_userConstraintType =m_userConstraintType;
+ tcd->m_isEnabled = m_isEnabled ? 1 : 0;
+
+ tcd->m_userConstraintId = m_userConstraintId;
+ tcd->m_userConstraintType = m_userConstraintType;
tcd->m_appliedImpulse = m_appliedImpulse;
tcd->m_dbgDrawSize = m_dbgDrawSize;
@@ -135,10 +129,10 @@ const char* btTypedConstraint::serialize(void* dataBuffer, btSerializer* seriali
tcd->m_disableCollisionsBetweenLinkedBodies = false;
int i;
- for (i=0;i<m_rbA.getNumConstraintRefs();i++)
+ for (i = 0; i < m_rbA.getNumConstraintRefs(); i++)
if (m_rbA.getConstraintRef(i) == this)
tcd->m_disableCollisionsBetweenLinkedBodies = true;
- for (i=0;i<m_rbB.getNumConstraintRefs();i++)
+ for (i = 0; i < m_rbB.getNumConstraintRefs(); i++)
if (m_rbB.getConstraintRef(i) == this)
tcd->m_disableCollisionsBetweenLinkedBodies = true;
@@ -147,17 +141,16 @@ const char* btTypedConstraint::serialize(void* dataBuffer, btSerializer* seriali
btRigidBody& btTypedConstraint::getFixedBody()
{
- static btRigidBody s_fixed(0, 0,0);
- s_fixed.setMassProps(btScalar(0.),btVector3(btScalar(0.),btScalar(0.),btScalar(0.)));
+ static btRigidBody s_fixed(0, 0, 0);
+ s_fixed.setMassProps(btScalar(0.), btVector3(btScalar(0.), btScalar(0.), btScalar(0.)));
return s_fixed;
}
-
void btAngularLimit::set(btScalar low, btScalar high, btScalar _softness, btScalar _biasFactor, btScalar _relaxationFactor)
{
m_halfRange = (high - low) / 2.0f;
m_center = btNormalizeAngle(low + m_halfRange);
- m_softness = _softness;
+ m_softness = _softness;
m_biasFactor = _biasFactor;
m_relaxationFactor = _relaxationFactor;
}
@@ -174,7 +167,7 @@ void btAngularLimit::test(const btScalar angle)
if (deviation < -m_halfRange)
{
m_solveLimit = true;
- m_correction = - (deviation + m_halfRange);
+ m_correction = -(deviation + m_halfRange);
m_sign = +1.0f;
}
else if (deviation > m_halfRange)
@@ -186,7 +179,6 @@ void btAngularLimit::test(const btScalar angle)
}
}
-
btScalar btAngularLimit::getError() const
{
return m_correction * m_sign;
generated by cgit v1.2.3 (git 2.25.1) at 2024-07-11 14:44:35 +0300