Changeset 8351 for code/trunk/src/external/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h

Timestamp:

Apr 28, 2011, 7:15:14 AM (14 years ago)

Author:

rgrieder

Message:

Merged kicklib2 branch back to trunk (includes former branches ois_update, mac_osx and kicklib).

Notes for updating

Linux:
You don't need an extra package for CEGUILua and Tolua, it's already shipped with CEGUI.
However you do need to make sure that the OgreRenderer is installed too with CEGUI 0.7 (may be a separate package).
Also, Orxonox now recognises if you install the CgProgramManager (a separate package available on newer Ubuntu on Debian systems).

Windows:
Download the new dependency packages versioned 6.0 and use these. If you have problems with that or if you don't like the in game console problem mentioned below, you can download the new 4.3 version of the packages (only available for Visual Studio 2005/2008).

Key new features:

• *Support for Mac OS X*
• Visual Studio 2010 support
• Bullet library update to 2.77
• OIS library update to 1.3
• Support for CEGUI 0.7 —> Support for Arch Linux and even SuSE
• Improved install target
• Compiles now with GCC 4.6
• Ogre Cg Shader plugin activated for Linux if available
• And of course lots of bug fixes

There are also some regressions:

• No support for CEGUI 0.5, Ogre 1.4 and boost 1.35 - 1.39 any more
• In game console is not working in main menu for CEGUI 0.7
• Tolua (just the C lib, not the application) and CEGUILua libraries are no longer in our repository. —> You will need to get these as well when compiling Orxonox
• And of course lots of new bugs we don't yet know about

File:

• code/trunk/src/external/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h (modified) (8 diffs)

code/trunk/src/external/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h

@@ -31 +31 @@
 typedef bool (*ContactProcessedCallback)(btManifoldPoint& cp,void* body0,void* body1);
 extern ContactDestroyedCallback gContactDestroyedCallback;
-
-
-
+extern ContactProcessedCallback gContactProcessedCallback;
+
+
+enum btContactManifoldTypes
+{
+        BT_PERSISTENT_MANIFOLD_TYPE = 1,
+        MAX_CONTACT_MANIFOLD_TYPE
+};
 
 #define MANIFOLD_CACHE_SIZE 4
@@ -44 +49 @@
 ///the contact point with deepest penetration is always kept, and it tries to maximuze the area covered by the points
 ///note that some pairs of objects might have more then one contact manifold.
-ATTRIBUTE_ALIGNED16( class) btPersistentManifold 
+
+
+ATTRIBUTE_ALIGNED128( class) btPersistentManifold : public btTypedObject
+//ATTRIBUTE_ALIGNED16( class) btPersistentManifold : public btTypedObject
 {
 
@@ -53 +61 @@
         void* m_body0;
         void* m_body1;
+
         int     m_cachedPoints;
 
@@ -68 +77 @@
         BT_DECLARE_ALIGNED_ALLOCATOR();
 
+        int     m_companionIdA;
+        int     m_companionIdB;
+
         int m_index1a;
 
@@ -73 +85 @@
 
         btPersistentManifold(void* body0,void* body1,int , btScalar contactBreakingThreshold,btScalar contactProcessingThreshold)
-                : m_body0(body0),m_body1(body1),m_cachedPoints(0),
+                : btTypedObject(BT_PERSISTENT_MANIFOLD_TYPE),
+        m_body0(body0),m_body1(body1),m_cachedPoints(0),
                 m_contactBreakingThreshold(contactBreakingThreshold),
                 m_contactProcessingThreshold(contactProcessingThreshold)
         {
-                
         }
 
@@ -135 +147 @@
                         //get rid of duplicated userPersistentData pointer
                         m_pointCache[lastUsedIndex].m_userPersistentData = 0;
+                        m_pointCache[lastUsedIndex].mConstraintRow[0].mAccumImpulse = 0.f;
+                        m_pointCache[lastUsedIndex].mConstraintRow[1].mAccumImpulse = 0.f;
+                        m_pointCache[lastUsedIndex].mConstraintRow[2].mAccumImpulse = 0.f;
+
                         m_pointCache[lastUsedIndex].m_appliedImpulse = 0.f;
                         m_pointCache[lastUsedIndex].m_lateralFrictionInitialized = false;
@@ -152 +168 @@
 #ifdef MAINTAIN_PERSISTENCY
                 int     lifeTime = m_pointCache[insertIndex].getLifeTime();
-                btScalar        appliedImpulse = m_pointCache[insertIndex].m_appliedImpulse;
-                btScalar        appliedLateralImpulse1 = m_pointCache[insertIndex].m_appliedImpulseLateral1;
-                btScalar        appliedLateralImpulse2 = m_pointCache[insertIndex].m_appliedImpulseLateral2;
-                                
+                btScalar        appliedImpulse = m_pointCache[insertIndex].mConstraintRow[0].mAccumImpulse;
+                btScalar        appliedLateralImpulse1 = m_pointCache[insertIndex].mConstraintRow[1].mAccumImpulse;
+                btScalar        appliedLateralImpulse2 = m_pointCache[insertIndex].mConstraintRow[2].mAccumImpulse;
+//              bool isLateralFrictionInitialized = m_pointCache[insertIndex].m_lateralFrictionInitialized;
+                
+                
+                        
                 btAssert(lifeTime>=0);
                 void* cache = m_pointCache[insertIndex].m_userPersistentData;
@@ -166 +185 @@
                 m_pointCache[insertIndex].m_appliedImpulseLateral2 = appliedLateralImpulse2;
                 
+                m_pointCache[insertIndex].mConstraintRow[0].mAccumImpulse =  appliedImpulse;
+                m_pointCache[insertIndex].mConstraintRow[1].mAccumImpulse = appliedLateralImpulse1;
+                m_pointCache[insertIndex].mConstraintRow[2].mAccumImpulse = appliedLateralImpulse2;
+
+
                 m_pointCache[insertIndex].m_lifeTime = lifeTime;
 #else