Changeset 2908 for code/branches/questsystem5/src/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h

Timestamp:

Apr 8, 2009, 12:58:47 AM (16 years ago)

Author:

dafrick

Message:

Reverted to revision 2906 (because I'm too stupid to merge correctly, 2nd try will follow shortly. )

Location:

code/branches/questsystem5

Files:

• . (modified) (1 prop)
• src/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h (modified) (14 diffs)

code/branches/questsystem5/src/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h

@@ -29 +29 @@
 
 class btRigidBody;
-
-
 
 
@@ -95 +93 @@
     bool isLimited()
     {
-        if(m_loLimit > m_hiLimit) return false;
+        if(m_loLimit>=m_hiLimit) return false;
         return true;
     }
@@ -113 +111 @@
 
         //! apply the correction impulses for two bodies
-    btScalar solveAngularLimits(btScalar timeStep,btVector3& axis, btScalar jacDiagABInv,btRigidBody * body0, btSolverBody& bodyA,btRigidBody * body1,btSolverBody& bodyB);
+    btScalar solveAngularLimits(btScalar timeStep,btVector3& axis, btScalar jacDiagABInv,btRigidBody * body0, btRigidBody * body1);
+
 
 };
@@ -131 +130 @@
     btScalar    m_restitution;//! Bounce parameter for linear limit
     //!@}
-        bool            m_enableMotor[3];
-    btVector3   m_targetVelocity;//!< target motor velocity
-    btVector3   m_maxMotorForce;//!< max force on motor
-    btVector3   m_currentLimitError;//!  How much is violated this limit
-    int                 m_currentLimit[3];//!< 0=free, 1=at lower limit, 2=at upper limit
 
     btTranslationalLimitMotor()
@@ -146 +140 @@
         m_damping = btScalar(1.0f);
         m_restitution = btScalar(0.5f);
-                for(int i=0; i < 3; i++) 
-                {
-                        m_enableMotor[i] = false;
-                        m_targetVelocity[i] = btScalar(0.f);
-                        m_maxMotorForce[i] = btScalar(0.f);
-                }
     }
 
@@ -163 +151 @@
         m_damping = other.m_damping;
         m_restitution = other.m_restitution;
-                for(int i=0; i < 3; i++) 
-                {
-                        m_enableMotor[i] = other.m_enableMotor[i];
-                        m_targetVelocity[i] = other.m_targetVelocity[i];
-                        m_maxMotorForce[i] = other.m_maxMotorForce[i];
-                }
     }
 
@@ -182 +164 @@
        return (m_upperLimit[limitIndex] >= m_lowerLimit[limitIndex]);
     }
-    inline bool needApplyForce(int limitIndex)
-    {
-        if(m_currentLimit[limitIndex] == 0 && m_enableMotor[limitIndex] == false) return false;
-        return true;
-    }
-        int testLimitValue(int limitIndex, btScalar test_value);
 
 
@@ -193 +169 @@
         btScalar timeStep,
         btScalar jacDiagABInv,
-        btRigidBody& body1,btSolverBody& bodyA,const btVector3 &pointInA,
-        btRigidBody& body2,btSolverBody& bodyB,const btVector3 &pointInB,
+        btRigidBody& body1,const btVector3 &pointInA,
+        btRigidBody& body2,const btVector3 &pointInB,
         int limit_index,
         const btVector3 & axis_normal_on_a,
@@ -272 +248 @@
     btVector3 m_calculatedAxisAngleDiff;
     btVector3 m_calculatedAxis[3];
-    btVector3 m_calculatedLinearDiff;
     
         btVector3 m_AnchorPos; // point betwen pivots of bodies A and B to solve linear axes
@@ -288 +263 @@
 
 
-        int setAngularLimits(btConstraintInfo2 *info, int row_offset);
-
-        int setLinearLimits(btConstraintInfo2 *info);
 
     void buildLinearJacobian(
@@ -298 +270 @@
     void buildAngularJacobian(btJacobianEntry & jacAngular,const btVector3 & jointAxisW);
 
-        // tests linear limits
-        void calculateLinearInfo();
 
         //! calcs the euler angles between the two bodies.
@@ -307 +277 @@
 
 public:
-
-        ///for backwards compatibility during the transition to 'getInfo/getInfo2'
-        bool            m_useSolveConstraintObsolete;
-
     btGeneric6DofConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA);
 
@@ -365 +331 @@
     virtual void        buildJacobian();
 
-        virtual void getInfo1 (btConstraintInfo1* info);
-
-        virtual void getInfo2 (btConstraintInfo2* info);
-
-    virtual     void    solveConstraintObsolete(btSolverBody& bodyA,btSolverBody& bodyB,btScalar        timeStep);
+    virtual     void    solveConstraint(btScalar        timeStep);
 
     void        updateRHS(btScalar      timeStep);
@@ -471 +433 @@
         virtual void calcAnchorPos(void); // overridable
 
-        int get_limit_motor_info2(      btRotationalLimitMotor * limot,
-                                                                btRigidBody * body0, btRigidBody * body1,
-                                                                btConstraintInfo2 *info, int row, btVector3& ax1, int rotational);
-
-
 };