Changeset 8351 for code/trunk/src/external/bullet/BulletDynamics/ConstraintSolver/btContactConstraint.h

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:

• code/trunk/src/external/bullet/BulletDynamics/ConstraintSolver/btContactConstraint.h (modified) (2 diffs)

code/trunk/src/external/bullet/BulletDynamics/ConstraintSolver/btContactConstraint.h

@@ -17 +17 @@
 #define CONTACT_CONSTRAINT_H
 
-///@todo: make into a proper class working with the iterative constraint solver
+#include "LinearMath/btVector3.h"
+#include "btJacobianEntry.h"
+#include "btTypedConstraint.h"
+#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
 
-class btRigidBody;
-#include "LinearMath/btVector3.h"
-#include "LinearMath/btScalar.h"
-struct btContactSolverInfo;
-class btManifoldPoint;
+///btContactConstraint can be automatically created to solve contact constraints using the unified btTypedConstraint interface
+ATTRIBUTE_ALIGNED16(class) btContactConstraint : public btTypedConstraint
+{
+protected:
 
-enum {
-        DEFAULT_CONTACT_SOLVER_TYPE=0,
-        CONTACT_SOLVER_TYPE1,
-        CONTACT_SOLVER_TYPE2,
-        USER_CONTACT_SOLVER_TYPE1,
-        MAX_CONTACT_SOLVER_TYPES
+        btPersistentManifold m_contactManifold;
+
+public:
+
+
+        btContactConstraint(btPersistentManifold* contactManifold,btRigidBody& rbA,btRigidBody& rbB);
+
+        void    setContactManifold(btPersistentManifold* contactManifold);
+
+        btPersistentManifold* getContactManifold()
+        {
+                return &m_contactManifold;
+        }
+
+        const btPersistentManifold* getContactManifold() const
+        {
+                return &m_contactManifold;
+        }
+
+        virtual ~btContactConstraint();
+
+        virtual void getInfo1 (btConstraintInfo1* info);
+
+        virtual void getInfo2 (btConstraintInfo2* info);
+
+        ///obsolete methods
+        virtual void    buildJacobian();
+
+
 };
 
 
-typedef btScalar (*ContactSolverFunc)(btRigidBody& body1,
-                                                                         btRigidBody& body2,
-                                                                         class btManifoldPoint& contactPoint,
-                                                                         const btContactSolverInfo& info);
-
-///stores some extra information to each contact point. It is not in the contact point, because that want to keep the collision detection independent from the constraint solver.
-struct btConstraintPersistentData
-{
-        inline btConstraintPersistentData()
-        :m_appliedImpulse(btScalar(0.)),
-        m_prevAppliedImpulse(btScalar(0.)),
-        m_accumulatedTangentImpulse0(btScalar(0.)),
-        m_accumulatedTangentImpulse1(btScalar(0.)),
-        m_jacDiagABInv(btScalar(0.)),
-        m_persistentLifeTime(0),
-        m_restitution(btScalar(0.)),
-        m_friction(btScalar(0.)),
-        m_penetration(btScalar(0.)),
-        m_contactSolverFunc(0),
-        m_frictionSolverFunc(0)
-        {
-        }
-        
-                                        
-                                /// total applied impulse during most recent frame
-                        btScalar        m_appliedImpulse;
-                        btScalar        m_prevAppliedImpulse;
-                        btScalar        m_accumulatedTangentImpulse0;
-                        btScalar        m_accumulatedTangentImpulse1;
-                        
-                        btScalar        m_jacDiagABInv;
-                        btScalar        m_jacDiagABInvTangent0;
-                        btScalar        m_jacDiagABInvTangent1;
-                        int             m_persistentLifeTime;
-                        btScalar        m_restitution;
-                        btScalar        m_friction;
-                        btScalar        m_penetration;
-                        btVector3       m_frictionWorldTangential0;
-                        btVector3       m_frictionWorldTangential1;
-
-                        btVector3       m_frictionAngularComponent0A;
-                        btVector3       m_frictionAngularComponent0B;
-                        btVector3       m_frictionAngularComponent1A;
-                        btVector3       m_frictionAngularComponent1B;
-
-                        //some data doesn't need to be persistent over frames: todo: clean/reuse this
-                        btVector3       m_angularComponentA;
-                        btVector3       m_angularComponentB;
-                
-                        ContactSolverFunc       m_contactSolverFunc;
-                        ContactSolverFunc       m_frictionSolverFunc;
-
-};
-
-///bilateral constraint between two dynamic objects
-///positive distance = separation, negative distance = penetration
+///resolveSingleBilateral is an obsolete methods used for vehicle friction between two dynamic objects
 void resolveSingleBilateral(btRigidBody& body1, const btVector3& pos1,
                       btRigidBody& body2, const btVector3& pos2,
@@ -95 +65 @@
 
 
-///contact constraint resolution:
-///calculate and apply impulse to satisfy non-penetration and non-negative relative velocity constraint
-///positive distance = separation, negative distance = penetration
-btScalar resolveSingleCollision(
-        btRigidBody& body1,
-        btRigidBody& body2,
-                btManifoldPoint& contactPoint,
-                 const btContactSolverInfo& info);
-
-btScalar resolveSingleFriction(
-        btRigidBody& body1,
-        btRigidBody& body2,
-        btManifoldPoint& contactPoint,
-        const btContactSolverInfo& solverInfo
-                );
-
-
-
-btScalar resolveSingleCollisionCombined(
-        btRigidBody& body1,
-        btRigidBody& body2,
-        btManifoldPoint& contactPoint,
-        const btContactSolverInfo& solverInfo
-                );
 
 #endif //CONTACT_CONSTRAINT_H