Changeset 8284 for code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btSolverBody.h

Timestamp:

Apr 21, 2011, 6:58:23 PM (13 years ago)

Author:

rgrieder

Message:

Merged revisions 7978 - 8096 from kicklib to kicklib2.

Location:

code/branches/kicklib2

Files:

• . (modified) (1 prop)
• src/external/bullet/BulletDynamics/ConstraintSolver/btSolverBody.h (modified) (3 diffs)

code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btSolverBody.h

@@ -106 +106 @@
 
 ///The btSolverBody is an internal datastructure for the constraint solver. Only necessary data is packed to increase cache coherence/performance.
-ATTRIBUTE_ALIGNED16 (struct)    btSolverBody
+ATTRIBUTE_ALIGNED64 (struct)    btSolverBodyObsolete
 {
         BT_DECLARE_ALIGNED_ALLOCATOR();
         btVector3               m_deltaLinearVelocity;
         btVector3               m_deltaAngularVelocity;
-        btScalar                m_angularFactor;
-        btScalar                m_invMass;
-        btScalar                m_friction;
+        btVector3               m_angularFactor;
+        btVector3               m_invMass;
         btRigidBody*    m_originalBody;
         btVector3               m_pushVelocity;
-        //btVector3             m_turnVelocity; 
+        btVector3               m_turnVelocity;
 
         
@@ -146 +145 @@
         }
 
-        
-/*
+        SIMD_FORCE_INLINE void internalApplyPushImpulse(const btVector3& linearComponent, const btVector3& angularComponent,btScalar impulseMagnitude)
+        {
+                if (m_originalBody)
+                {
+                        m_pushVelocity += linearComponent*impulseMagnitude;
+                        m_turnVelocity += angularComponent*(impulseMagnitude*m_angularFactor);
+                }
+        }
         
         void    writebackVelocity()
         {
-                if (m_invMass)
+                if (m_originalBody)
                 {
                         m_originalBody->setLinearVelocity(m_originalBody->getLinearVelocity()+ m_deltaLinearVelocity);
@@ -159 +164 @@
                 }
         }
-        */
 
-        void    writebackVelocity(btScalar timeStep=0)
+
+        void    writebackVelocity(btScalar timeStep)
         {
-                if (m_invMass)
+        (void) timeStep;
+                if (m_originalBody)
                 {
-                        m_originalBody->setLinearVelocity(m_originalBody->getLinearVelocity()+m_deltaLinearVelocity);
+                        m_originalBody->setLinearVelocity(m_originalBody->getLinearVelocity()+ m_deltaLinearVelocity);
                         m_originalBody->setAngularVelocity(m_originalBody->getAngularVelocity()+m_deltaAngularVelocity);
+                        
+                        //correct the position/orientation based on push/turn recovery
+                        btTransform newTransform;
+                        btTransformUtil::integrateTransform(m_originalBody->getWorldTransform(),m_pushVelocity,m_turnVelocity,timeStep,newTransform);
+                        m_originalBody->setWorldTransform(newTransform);
+                        
                         //m_originalBody->setCompanionId(-1);
                 }