Changeset 2882 for code/trunk/src/bullet/BulletDynamics/ConstraintSolver/btSliderConstraint.h

Timestamp:

Mar 31, 2009, 8:05:51 PM (15 years ago)

Author:

rgrieder

Message:

Update from Bullet 2.73 to 2.74.

File:

• code/trunk/src/bullet/BulletDynamics/ConstraintSolver/btSliderConstraint.h (modified) (5 diffs)

code/trunk/src/bullet/BulletDynamics/ConstraintSolver/btSliderConstraint.h

@@ -47 +47 @@
 {
 protected:
+        ///for backwards compatibility during the transition to 'getInfo/getInfo2'
+        bool            m_useSolveConstraintObsolete;
         btTransform     m_frameInA;
     btTransform m_frameInB;
@@ -105 +107 @@
 
         btScalar m_linPos;
+        btScalar m_angPos;
 
         btScalar m_angDepth;
@@ -127 +130 @@
         // overrides
     virtual void        buildJacobian();
-    virtual     void    solveConstraint(btScalar        timeStep);
+    virtual void getInfo1 (btConstraintInfo1* info);
+        
+        virtual void getInfo2 (btConstraintInfo2* info);
+
+    virtual     void    solveConstraintObsolete(btSolverBody& bodyA,btSolverBody& bodyB,btScalar        timeStep);
+        
+
         // access
     const btRigidBody& getRigidBodyA() const { return m_rbA; }
@@ -195 +204 @@
         btScalar getMaxAngMotorForce() { return m_maxAngMotorForce; }
         btScalar getLinearPos() { return m_linPos; }
+        
 
         // access for ODE solver
@@ -203 +213 @@
         // internal
     void        buildJacobianInt(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB);
-    void        solveConstraintInt(btRigidBody& rbA, btRigidBody& rbB);
+    void        solveConstraintInt(btRigidBody& rbA, btSolverBody& bodyA,btRigidBody& rbB, btSolverBody& bodyB);
         // shared code used by ODE solver
         void    calculateTransforms(void);
         void    testLinLimits(void);
+        void    testLinLimits2(btConstraintInfo2* info);
         void    testAngLimits(void);
         // access for PE Solver