Changeset 8284 for code/branches/kicklib2/src/external/bullet/BulletDynamics/Dynamics/btRigidBody.cpp

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/Dynamics/btRigidBody.cpp (modified) (8 diffs)

code/branches/kicklib2/src/external/bullet/BulletDynamics/Dynamics/btRigidBody.cpp

@@ -20 +20 @@
 #include "LinearMath/btMotionState.h"
 #include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
+#include "LinearMath/btSerializer.h"
 
 //'temporarily' global variables
@@ -45 +46 @@
         m_linearVelocity.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
         m_angularVelocity.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
-        m_angularFactor = btScalar(1.);
+        m_angularFactor.setValue(1,1,1);
+        m_linearFactor.setValue(1,1,1);
         m_gravity.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
         m_gravity_acceleration.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
@@ -86 +88 @@
         updateInertiaTensor();
 
+        m_rigidbodyFlags = 0;
+
+
+        m_deltaLinearVelocity.setZero();
+        m_deltaAngularVelocity.setZero();
+        m_invMass = m_inverseMass*m_linearFactor;
+        m_pushVelocity.setZero();
+        m_turnVelocity.setZero();
+
+        
+
 }
 
@@ -136 +149 @@
 void btRigidBody::setDamping(btScalar lin_damping, btScalar ang_damping)
 {
-        m_linearDamping = GEN_clamped(lin_damping, (btScalar)btScalar(0.0), (btScalar)btScalar(1.0));
-        m_angularDamping = GEN_clamped(ang_damping, (btScalar)btScalar(0.0), (btScalar)btScalar(1.0));
+        m_linearDamping = btClamped(lin_damping, (btScalar)btScalar(0.0), (btScalar)btScalar(1.0));
+        m_angularDamping = btClamped(ang_damping, (btScalar)btScalar(0.0), (btScalar)btScalar(1.0));
 }
 
@@ -227 +240 @@
                 m_inverseMass = btScalar(1.0) / mass;
         }
+
+        //Fg = m * a
+        m_gravity = mass * m_gravity_acceleration;
         
         m_invInertiaLocal.setValue(inertia.x() != btScalar(0.0) ? btScalar(1.0) / inertia.x(): btScalar(0.0),
@@ -232 +248 @@
                                    inertia.z() != btScalar(0.0) ? btScalar(1.0) / inertia.z(): btScalar(0.0));
 
+        m_invMass = m_linearFactor*m_inverseMass;
 }
 
@@ -301 +318 @@
 }
 
+void    btRigidBody::internalWritebackVelocity(btScalar timeStep)
+{
+    (void) timeStep;
+        if (m_inverseMass)
+        {
+                setLinearVelocity(getLinearVelocity()+ m_deltaLinearVelocity);
+                setAngularVelocity(getAngularVelocity()+m_deltaAngularVelocity);
+                
+                //correct the position/orientation based on push/turn recovery
+                btTransform newTransform;
+                btTransformUtil::integrateTransform(getWorldTransform(),m_pushVelocity,m_turnVelocity,timeStep,newTransform);
+                setWorldTransform(newTransform);
+                //m_originalBody->setCompanionId(-1);
+        }
+//      m_deltaLinearVelocity.setZero();
+//      m_deltaAngularVelocity .setZero();
+//      m_pushVelocity.setZero();
+//      m_turnVelocity.setZero();
+}
+
+
+
 void btRigidBody::addConstraintRef(btTypedConstraint* c)
 {
@@ -315 +354 @@
         m_checkCollideWith = m_constraintRefs.size() > 0;
 }
+
+int     btRigidBody::calculateSerializeBufferSize()     const
+{
+        int sz = sizeof(btRigidBodyData);
+        return sz;
+}
+
+        ///fills the dataBuffer and returns the struct name (and 0 on failure)
+const char*     btRigidBody::serialize(void* dataBuffer, class btSerializer* serializer) const
+{
+        btRigidBodyData* rbd = (btRigidBodyData*) dataBuffer;
+
+        btCollisionObject::serialize(&rbd->m_collisionObjectData, serializer);
+
+        m_invInertiaTensorWorld.serialize(rbd->m_invInertiaTensorWorld);
+        m_linearVelocity.serialize(rbd->m_linearVelocity);
+        m_angularVelocity.serialize(rbd->m_angularVelocity);
+        rbd->m_inverseMass = m_inverseMass;
+        m_angularFactor.serialize(rbd->m_angularFactor);
+        m_linearFactor.serialize(rbd->m_linearFactor);
+        m_gravity.serialize(rbd->m_gravity);
+        m_gravity_acceleration.serialize(rbd->m_gravity_acceleration);
+        m_invInertiaLocal.serialize(rbd->m_invInertiaLocal);
+        m_totalForce.serialize(rbd->m_totalForce);
+        m_totalTorque.serialize(rbd->m_totalTorque);
+        rbd->m_linearDamping = m_linearDamping;
+        rbd->m_angularDamping = m_angularDamping;
+        rbd->m_additionalDamping = m_additionalDamping;
+        rbd->m_additionalDampingFactor = m_additionalDampingFactor;
+        rbd->m_additionalLinearDampingThresholdSqr = m_additionalLinearDampingThresholdSqr;
+        rbd->m_additionalAngularDampingThresholdSqr = m_additionalAngularDampingThresholdSqr;
+        rbd->m_additionalAngularDampingFactor = m_additionalAngularDampingFactor;
+        rbd->m_linearSleepingThreshold=m_linearSleepingThreshold;
+        rbd->m_angularSleepingThreshold = m_angularSleepingThreshold;
+
+        return btRigidBodyDataName;
+}
+
+
+
+void btRigidBody::serializeSingleObject(class btSerializer* serializer) const
+{
+        btChunk* chunk = serializer->allocate(calculateSerializeBufferSize(),1);
+        const char* structType = serialize(chunk->m_oldPtr, serializer);
+        serializer->finalizeChunk(chunk,structType,BT_RIGIDBODY_CODE,(void*)this);
+}
+
+