Changeset 8351 for code/trunk/src/external/bullet/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.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/btPoint2PointConstraint.h (modified) (6 diffs)

code/trunk/src/external/bullet/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h

@@ -23 +23 @@
 class btRigidBody;
 
+
+#ifdef BT_USE_DOUBLE_PRECISION
+#define btPoint2PointConstraintData     btPoint2PointConstraintDoubleData
+#define btPoint2PointConstraintDataName "btPoint2PointConstraintDoubleData"
+#else
+#define btPoint2PointConstraintData     btPoint2PointConstraintFloatData
+#define btPoint2PointConstraintDataName "btPoint2PointConstraintFloatData"
+#endif //BT_USE_DOUBLE_PRECISION
+
 struct  btConstraintSetting
 {
@@ -36 +45 @@
 };
 
+enum btPoint2PointFlags
+{
+        BT_P2P_FLAGS_ERP = 1,
+        BT_P2P_FLAGS_CFM = 2
+};
+
 /// point to point constraint between two rigidbodies each with a pivotpoint that descibes the 'ballsocket' location in local space
-class btPoint2PointConstraint : public btTypedConstraint
+ATTRIBUTE_ALIGNED16(class) btPoint2PointConstraint : public btTypedConstraint
 {
 #ifdef IN_PARALLELL_SOLVER
@@ -47 +62 @@
         btVector3       m_pivotInB;
         
-        
+        int                     m_flags;
+        btScalar        m_erp;
+        btScalar        m_cfm;
         
 public:
@@ -60 +77 @@
         btPoint2PointConstraint(btRigidBody& rbA,const btVector3& pivotInA);
 
-        btPoint2PointConstraint();
 
         virtual void    buildJacobian();
@@ -66 +82 @@
         virtual void getInfo1 (btConstraintInfo1* info);
 
+        void getInfo1NonVirtual (btConstraintInfo1* info);
+
         virtual void getInfo2 (btConstraintInfo2* info);
 
-
-        virtual void    solveConstraintObsolete(btSolverBody& bodyA,btSolverBody& bodyB,btScalar        timeStep);
+        void getInfo2NonVirtual (btConstraintInfo2* info, const btTransform& body0_trans, const btTransform& body1_trans);
 
         void    updateRHS(btScalar      timeStep);
@@ -93 +110 @@
         }
 
+        ///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5). 
+        ///If no axis is provided, it uses the default axis for this constraint.
+        virtual void    setParam(int num, btScalar value, int axis = -1);
+        ///return the local value of parameter
+        virtual btScalar getParam(int num, int axis = -1) const;
+
+        virtual int     calculateSerializeBufferSize() const;
+
+        ///fills the dataBuffer and returns the struct name (and 0 on failure)
+        virtual const char*     serialize(void* dataBuffer, btSerializer* serializer) const;
+
 
 };
 
+///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
+struct  btPoint2PointConstraintFloatData
+{
+        btTypedConstraintData   m_typeConstraintData;
+        btVector3FloatData      m_pivotInA;
+        btVector3FloatData      m_pivotInB;
+};
+
+///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
+struct  btPoint2PointConstraintDoubleData
+{
+        btTypedConstraintData   m_typeConstraintData;
+        btVector3DoubleData     m_pivotInA;
+        btVector3DoubleData     m_pivotInB;
+};
+
+
+SIMD_FORCE_INLINE       int     btPoint2PointConstraint::calculateSerializeBufferSize() const
+{
+        return sizeof(btPoint2PointConstraintData);
+
+}
+
+        ///fills the dataBuffer and returns the struct name (and 0 on failure)
+SIMD_FORCE_INLINE       const char*     btPoint2PointConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
+{
+        btPoint2PointConstraintData* p2pData = (btPoint2PointConstraintData*)dataBuffer;
+
+        btTypedConstraint::serialize(&p2pData->m_typeConstraintData,serializer);
+        m_pivotInA.serialize(p2pData->m_pivotInA);
+        m_pivotInB.serialize(p2pData->m_pivotInB);
+
+        return btPoint2PointConstraintDataName;
+}
+
 #endif //POINT2POINTCONSTRAINT_H