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Ignore:
Timestamp:
Apr 28, 2011, 7:15:14 AM (13 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:
1 edited

Legend:

Unmodified
Added
Removed

  • code/trunk/src/external/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h

    r5781 r8351  
    2222#include "btSolverBody.h"
    2323#include "btSolverConstraint.h"
    24 
    25 
     24#include "btTypedConstraint.h"
     25#include "BulletCollision/NarrowPhaseCollision/btManifoldPoint.h"
    2626
    2727///The btSequentialImpulseConstraintSolver is a fast SIMD implementation of the Projected Gauss Seidel (iterative LCP) method.
    … …  
    3030protected:
    3131
    32         btAlignedObjectArray<btSolverBody>      m_tmpSolverBodyPool;
    3332        btConstraintArray                       m_tmpSolverContactConstraintPool;
    3433        btConstraintArray                       m_tmpSolverNonContactConstraintPool;
    … …  
    3635        btAlignedObjectArray<int>       m_orderTmpConstraintPool;
    3736        btAlignedObjectArray<int>       m_orderFrictionConstraintPool;
     37        btAlignedObjectArray<btTypedConstraint::btConstraintInfo1> m_tmpConstraintSizesPool;
    3838
    39         btSolverConstraint&     addFrictionConstraint(const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,int frictionIndex,btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation);
     39        void setupFrictionConstraint(   btSolverConstraint& solverConstraint, const btVector3& normalAxis,btRigidBody* solverBodyA,btRigidBody* solverBodyIdB,
     40                                                                        btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,
     41                                                                        btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation,
     42                                                                        btScalar desiredVelocity=0., btScalar cfmSlip=0.);
     43
     44        btSolverConstraint&     addFrictionConstraint(const btVector3& normalAxis,btRigidBody* solverBodyA,btRigidBody* solverBodyB,int frictionIndex,btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, btScalar desiredVelocity=0., btScalar cfmSlip=0.);
    4045       
     46        void setupContactConstraint(btSolverConstraint& solverConstraint, btCollisionObject* colObj0, btCollisionObject* colObj1, btManifoldPoint& cp,
     47                                                                const btContactSolverInfo& infoGlobal, btVector3& vel, btScalar& rel_vel, btScalar& relaxation,
     48                                                                btVector3& rel_pos1, btVector3& rel_pos2);
     49
     50        void setFrictionConstraintImpulse( btSolverConstraint& solverConstraint, btRigidBody* rb0, btRigidBody* rb1,
     51                                                                                 btManifoldPoint& cp, const btContactSolverInfo& infoGlobal);
     52
    4153        ///m_btSeed2 is used for re-arranging the constraint rows. improves convergence/quality of friction
    4254        unsigned long   m_btSeed2;
    4355
    44         void    initSolverBody(btSolverBody* solverBody, btCollisionObject* collisionObject);
     56//      void    initSolverBody(btSolverBody* solverBody, btCollisionObject* collisionObject);
    4557        btScalar restitutionCurve(btScalar rel_vel, btScalar restitution);
    4658
    4759        void    convertContact(btPersistentManifold* manifold,const btContactSolverInfo& infoGlobal);
    4860
     61
     62        void    resolveSplitPenetrationSIMD(
     63        btRigidBody& body1,
     64        btRigidBody& body2,
     65        const btSolverConstraint& contactConstraint);
     66
    4967        void    resolveSplitPenetrationImpulseCacheFriendly(
    50         btSolverBody& body1,
    51         btSolverBody& body2,
    52         const btSolverConstraint& contactConstraint,
    53         const btContactSolverInfo& solverInfo);
     68        btRigidBody& body1,
     69        btRigidBody& body2,
     70        const btSolverConstraint& contactConstraint);
    5471
    5572        //internal method
    5673        int     getOrInitSolverBody(btCollisionObject& body);
    5774
    58         void    resolveSingleConstraintRowGeneric(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& contactConstraint);
     75        void    resolveSingleConstraintRowGeneric(btRigidBody& body1,btRigidBody& body2,const btSolverConstraint& contactConstraint);
    5976
    60         void    resolveSingleConstraintRowGenericSIMD(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& contactConstraint);
     77        void    resolveSingleConstraintRowGenericSIMD(btRigidBody& body1,btRigidBody& body2,const btSolverConstraint& contactConstraint);
    6178       
    62         void    resolveSingleConstraintRowLowerLimit(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& contactConstraint);
     79        void    resolveSingleConstraintRowLowerLimit(btRigidBody& body1,btRigidBody& body2,const btSolverConstraint& contactConstraint);
    6380       
    64         void    resolveSingleConstraintRowLowerLimitSIMD(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& contactConstraint);
     81        void    resolveSingleConstraintRowLowerLimitSIMD(btRigidBody& body1,btRigidBody& body2,const btSolverConstraint& contactConstraint);
    6582               
     83protected:
     84        static btRigidBody& getFixedBody();
     85       
     86        virtual void solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
     87        virtual btScalar solveGroupCacheFriendlyFinish(btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
     88        btScalar solveSingleIteration(int iteration, btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
     89
     90        virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
     91        virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
     92
     93
    6694public:
    6795
    … …  
    72100        virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btStackAlloc* stackAlloc,btDispatcher* dispatcher);
    73101       
    74         btScalar solveGroupCacheFriendlySetup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
    75         btScalar solveGroupCacheFriendlyIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
    76102
     103       
    77104        ///clear internal cached data and reset random seed
    78105        virtual void    reset();
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