Changeset 8393 for code/trunk/src/external/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h

Timestamp:

May 3, 2011, 5:07:42 AM (13 years ago)

Author:

rgrieder

Message:

Updated Bullet from v2.77 to v2.78.
(I'm not going to make a branch for that since the update from 2.74 to 2.77 hasn't been tested that much either).

You will HAVE to do a complete RECOMPILE! I tested with MSVC and MinGW and they both threw linker errors at me.

File:

• code/trunk/src/external/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h (modified) (7 diffs)

code/trunk/src/external/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h

@@ -14 +14 @@
 */
 
-#ifndef PERSISTENT_MANIFOLD_H
-#define PERSISTENT_MANIFOLD_H
+#ifndef BT_PERSISTENT_MANIFOLD_H
+#define BT_PERSISTENT_MANIFOLD_H
 
 
@@ -33 +33 @@
 extern ContactProcessedCallback gContactProcessedCallback;
 
-
+//the enum starts at 1024 to avoid type conflicts with btTypedConstraint
 enum btContactManifoldTypes
 {
-        BT_PERSISTENT_MANIFOLD_TYPE = 1,
-        MAX_CONTACT_MANIFOLD_TYPE
+        MIN_CONTACT_MANIFOLD_TYPE = 1024,
+        BT_PERSISTENT_MANIFOLD_TYPE
 };
 
@@ -147 +147 @@
                         //get rid of duplicated userPersistentData pointer
                         m_pointCache[lastUsedIndex].m_userPersistentData = 0;
-                        m_pointCache[lastUsedIndex].mConstraintRow[0].mAccumImpulse = 0.f;
-                        m_pointCache[lastUsedIndex].mConstraintRow[1].mAccumImpulse = 0.f;
-                        m_pointCache[lastUsedIndex].mConstraintRow[2].mAccumImpulse = 0.f;
+                        m_pointCache[lastUsedIndex].mConstraintRow[0].m_accumImpulse = 0.f;
+                        m_pointCache[lastUsedIndex].mConstraintRow[1].m_accumImpulse = 0.f;
+                        m_pointCache[lastUsedIndex].mConstraintRow[2].m_accumImpulse = 0.f;
 
                         m_pointCache[lastUsedIndex].m_appliedImpulse = 0.f;
@@ -168 +168 @@
 #ifdef MAINTAIN_PERSISTENCY
                 int     lifeTime = m_pointCache[insertIndex].getLifeTime();
-                btScalar        appliedImpulse = m_pointCache[insertIndex].mConstraintRow[0].mAccumImpulse;
-                btScalar        appliedLateralImpulse1 = m_pointCache[insertIndex].mConstraintRow[1].mAccumImpulse;
-                btScalar        appliedLateralImpulse2 = m_pointCache[insertIndex].mConstraintRow[2].mAccumImpulse;
+                btScalar        appliedImpulse = m_pointCache[insertIndex].mConstraintRow[0].m_accumImpulse;
+                btScalar        appliedLateralImpulse1 = m_pointCache[insertIndex].mConstraintRow[1].m_accumImpulse;
+                btScalar        appliedLateralImpulse2 = m_pointCache[insertIndex].mConstraintRow[2].m_accumImpulse;
 //              bool isLateralFrictionInitialized = m_pointCache[insertIndex].m_lateralFrictionInitialized;
                 
@@ -185 +185 @@
                 m_pointCache[insertIndex].m_appliedImpulseLateral2 = appliedLateralImpulse2;
                 
-                m_pointCache[insertIndex].mConstraintRow[0].mAccumImpulse =  appliedImpulse;
-                m_pointCache[insertIndex].mConstraintRow[1].mAccumImpulse = appliedLateralImpulse1;
-                m_pointCache[insertIndex].mConstraintRow[2].mAccumImpulse = appliedLateralImpulse2;
+                m_pointCache[insertIndex].mConstraintRow[0].m_accumImpulse =  appliedImpulse;
+                m_pointCache[insertIndex].mConstraintRow[1].m_accumImpulse = appliedLateralImpulse1;
+                m_pointCache[insertIndex].mConstraintRow[2].m_accumImpulse = appliedLateralImpulse2;
 
 
@@ -200 +200 @@
         bool validContactDistance(const btManifoldPoint& pt) const
         {
-                return pt.m_distance1 <= getContactBreakingThreshold();
+                if (pt.m_lifeTime >1)
+                {
+                        return pt.m_distance1 <= getContactBreakingThreshold();
+                }
+                return pt.m_distance1 <= getContactProcessingThreshold();
+        
         }
         /// calculated new worldspace coordinates and depth, and reject points that exceed the collision margin
@@ -225 +230 @@
 
 
-#endif //PERSISTENT_MANIFOLD_H
+#endif //BT_PERSISTENT_MANIFOLD_H