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path: root/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.cpp
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-rw-r--r--extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.cpp94
1 files changed, 48 insertions, 46 deletions
diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.cpp b/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.cpp
index 705c023d3a0..dbf73b85bcf 100644
--- a/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.cpp
+++ b/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.cpp
@@ -19,25 +19,25 @@ subject to the following restrictions:
#include <LinearMath/btTransformUtil.h>
#include <LinearMath/btMotionState.h>
-float gLinearAirDamping = 1.f;
+btScalar gLinearAirDamping = btScalar(1.);
//'temporarily' global variables
-float gDeactivationTime = 2.f;
+btScalar gDeactivationTime = btScalar(2.);
bool gDisableDeactivation = false;
-float gLinearSleepingThreshold = 0.8f;
-float gAngularSleepingThreshold = 1.0f;
+btScalar gLinearSleepingThreshold = btScalar(0.8);
+btScalar gAngularSleepingThreshold = btScalar(1.0);
static int uniqueId = 0;
-btRigidBody::btRigidBody(float mass, btMotionState* motionState, btCollisionShape* collisionShape, const btVector3& localInertia,btScalar linearDamping,btScalar angularDamping,btScalar friction,btScalar restitution)
+btRigidBody::btRigidBody(btScalar mass, btMotionState* motionState, btCollisionShape* collisionShape, const btVector3& localInertia,btScalar linearDamping,btScalar angularDamping,btScalar friction,btScalar restitution)
:
- m_gravity(0.0f, 0.0f, 0.0f),
- m_totalForce(0.0f, 0.0f, 0.0f),
- m_totalTorque(0.0f, 0.0f, 0.0f),
- m_linearVelocity(0.0f, 0.0f, 0.0f),
- m_angularVelocity(0.f,0.f,0.f),
- m_angularFactor(1.f),
- m_linearDamping(0.f),
- m_angularDamping(0.5f),
+ m_linearVelocity(btScalar(0.0), btScalar(0.0), btScalar(0.0)),
+ m_angularVelocity(btScalar(0.),btScalar(0.),btScalar(0.)),
+ m_angularFactor(btScalar(1.)),
+ m_gravity(btScalar(0.0), btScalar(0.0), btScalar(0.0)),
+ m_totalForce(btScalar(0.0), btScalar(0.0), btScalar(0.0)),
+ m_totalTorque(btScalar(0.0), btScalar(0.0), btScalar(0.0)),
+ m_linearDamping(btScalar(0.)),
+ m_angularDamping(btScalar(0.5)),
m_optionalMotionState(motionState),
m_contactSolverType(0),
m_frictionSolverType(0)
@@ -72,15 +72,15 @@ btRigidBody::btRigidBody(float mass, btMotionState* motionState, btCollisionShap
}
#ifdef OBSOLETE_MOTIONSTATE_LESS
-btRigidBody::btRigidBody( float mass,const btTransform& worldTransform,btCollisionShape* collisionShape,const btVector3& localInertia,btScalar linearDamping,btScalar angularDamping,btScalar friction,btScalar restitution)
+btRigidBody::btRigidBody( btScalar mass,const btTransform& worldTransform,btCollisionShape* collisionShape,const btVector3& localInertia,btScalar linearDamping,btScalar angularDamping,btScalar friction,btScalar restitution)
:
- m_gravity(0.0f, 0.0f, 0.0f),
- m_totalForce(0.0f, 0.0f, 0.0f),
- m_totalTorque(0.0f, 0.0f, 0.0f),
- m_linearVelocity(0.0f, 0.0f, 0.0f),
- m_angularVelocity(0.f,0.f,0.f),
- m_linearDamping(0.f),
- m_angularDamping(0.5f),
+ m_gravity(btScalar(0.0), btScalar(0.0), btScalar(0.0)),
+ m_totalForce(btScalar(0.0), btScalar(0.0), btScalar(0.0)),
+ m_totalTorque(btScalar(0.0), btScalar(0.0), btScalar(0.0)),
+ m_linearVelocity(btScalar(0.0), btScalar(0.0), btScalar(0.0)),
+ m_angularVelocity(btScalar(0.),btScalar(0.),btScalar(0.)),
+ m_linearDamping(btScalar(0.)),
+ m_angularDamping(btScalar(0.5)),
m_optionalMotionState(0),
m_contactSolverType(0),
m_frictionSolverType(0)
@@ -110,16 +110,18 @@ btRigidBody::btRigidBody( float mass,const btTransform& worldTransform,btCollisi
#endif //OBSOLETE_MOTIONSTATE_LESS
-//#define EXPERIMENTAL_JITTER_REMOVAL 1
+
+
+#define EXPERIMENTAL_JITTER_REMOVAL 1
#ifdef EXPERIMENTAL_JITTER_REMOVAL
//Bullet 2.20b has experimental damping code to reduce jitter just before objects fall asleep/deactivate
//doesn't work very well yet (value 0 disabled this damping)
//note there this influences deactivation thresholds!
-float gClippedAngvelThresholdSqr = 0.01f;
-float gClippedLinearThresholdSqr = 0.01f;
+btScalar gClippedAngvelThresholdSqr = btScalar(0.01);
+btScalar gClippedLinearThresholdSqr = btScalar(0.01);
#endif //EXPERIMENTAL_JITTER_REMOVAL
-float gJitterVelocityDampingFactor = 1.f;
+btScalar gJitterVelocityDampingFactor = btScalar(0.7);
void btRigidBody::predictIntegratedTransform(btScalar timeStep,btTransform& predictedTransform)
{
@@ -144,7 +146,7 @@ void btRigidBody::predictIntegratedTransform(btScalar timeStep,btTransform& pred
void btRigidBody::saveKinematicState(btScalar timeStep)
{
//todo: clamp to some (user definable) safe minimum timestep, to limit maximum angular/linear velocities
- if (timeStep != 0.f)
+ if (timeStep != btScalar(0.))
{
//if we use motionstate to synchronize world transforms, get the new kinematic/animated world transform
if (getMotionState())
@@ -169,9 +171,9 @@ void btRigidBody::getAabb(btVector3& aabbMin,btVector3& aabbMax) const
void btRigidBody::setGravity(const btVector3& acceleration)
{
- if (m_inverseMass != 0.0f)
+ if (m_inverseMass != btScalar(0.0))
{
- m_gravity = acceleration * (1.0f / m_inverseMass);
+ m_gravity = acceleration * (btScalar(1.0) / m_inverseMass);
}
}
@@ -182,8 +184,8 @@ void btRigidBody::setGravity(const btVector3& acceleration)
void btRigidBody::setDamping(btScalar lin_damping, btScalar ang_damping)
{
- m_linearDamping = GEN_clamped(lin_damping, 0.0f, 1.0f);
- m_angularDamping = GEN_clamped(ang_damping, 0.0f, 1.0f);
+ m_linearDamping = GEN_clamped(lin_damping, (btScalar)btScalar(0.0), (btScalar)btScalar(1.0));
+ m_angularDamping = GEN_clamped(ang_damping, (btScalar)btScalar(0.0), (btScalar)btScalar(1.0));
}
@@ -198,36 +200,36 @@ void btRigidBody::applyForces(btScalar step)
applyCentralForce(m_gravity);
- m_linearVelocity *= GEN_clamped((1.f - step * gLinearAirDamping * m_linearDamping), 0.0f, 1.0f);
- m_angularVelocity *= GEN_clamped((1.f - step * m_angularDamping), 0.0f, 1.0f);
+ m_linearVelocity *= GEN_clamped((btScalar(1.) - step * gLinearAirDamping * m_linearDamping), (btScalar)btScalar(0.0), (btScalar)btScalar(1.0));
+ m_angularVelocity *= GEN_clamped((btScalar(1.) - step * m_angularDamping), (btScalar)btScalar(0.0), (btScalar)btScalar(1.0));
#define FORCE_VELOCITY_DAMPING 1
#ifdef FORCE_VELOCITY_DAMPING
- float speed = m_linearVelocity.length();
+ btScalar speed = m_linearVelocity.length();
if (speed < m_linearDamping)
{
- float dampVel = 0.005f;
+ btScalar dampVel = btScalar(0.005);
if (speed > dampVel)
{
btVector3 dir = m_linearVelocity.normalized();
m_linearVelocity -= dir * dampVel;
} else
{
- m_linearVelocity.setValue(0.f,0.f,0.f);
+ m_linearVelocity.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
}
}
- float angSpeed = m_angularVelocity.length();
+ btScalar angSpeed = m_angularVelocity.length();
if (angSpeed < m_angularDamping)
{
- float angDampVel = 0.005f;
+ btScalar angDampVel = btScalar(0.005);
if (angSpeed > angDampVel)
{
btVector3 dir = m_angularVelocity.normalized();
m_angularVelocity -= dir * angDampVel;
} else
{
- m_angularVelocity.setValue(0.f,0.f,0.f);
+ m_angularVelocity.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
}
}
#endif //FORCE_VELOCITY_DAMPING
@@ -242,19 +244,19 @@ void btRigidBody::proceedToTransform(const btTransform& newTrans)
void btRigidBody::setMassProps(btScalar mass, const btVector3& inertia)
{
- if (mass == 0.f)
+ if (mass == btScalar(0.))
{
m_collisionFlags |= btCollisionObject::CF_STATIC_OBJECT;
- m_inverseMass = 0.f;
+ m_inverseMass = btScalar(0.);
} else
{
m_collisionFlags &= (~btCollisionObject::CF_STATIC_OBJECT);
- m_inverseMass = 1.0f / mass;
+ m_inverseMass = btScalar(1.0) / mass;
}
- m_invInertiaLocal.setValue(inertia[0] != 0.0f ? 1.0f / inertia[0]: 0.0f,
- inertia[1] != 0.0f ? 1.0f / inertia[1]: 0.0f,
- inertia[2] != 0.0f ? 1.0f / inertia[2]: 0.0f);
+ m_invInertiaLocal.setValue(inertia.x() != btScalar(0.0) ? btScalar(1.0) / inertia.x(): btScalar(0.0),
+ inertia.y() != btScalar(0.0) ? btScalar(1.0) / inertia.y(): btScalar(0.0),
+ inertia.z() != btScalar(0.0) ? btScalar(1.0) / inertia.z(): btScalar(0.0));
}
@@ -276,7 +278,7 @@ void btRigidBody::integrateVelocities(btScalar step)
#define MAX_ANGVEL SIMD_HALF_PI
/// clamp angular velocity. collision calculations will fail on higher angular velocities
- float angvel = m_angularVelocity.length();
+ btScalar angvel = m_angularVelocity.length();
if (angvel*step > MAX_ANGVEL)
{
m_angularVelocity *= (MAX_ANGVEL/step) /angvel;
@@ -295,7 +297,7 @@ btQuaternion btRigidBody::getOrientation() const
void btRigidBody::setCenterOfMassTransform(const btTransform& xform)
{
- m_interpolationWorldTransform = m_worldTransform;
+ m_interpolationWorldTransform = xform;//m_worldTransform;
m_interpolationLinearVelocity = getLinearVelocity();
m_interpolationAngularVelocity = getAngularVelocity();
m_worldTransform = xform;
generated by cgit v1.2.3 (git 2.25.1) at 2024-07-09 05:12:20 +0300