Changeset 8393 for code/trunk/src/external/bullet/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp

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/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp (modified) (3 diffs)

code/trunk/src/external/bullet/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp

@@ -30 +30 @@
 m_rbB(getFixedBody()),
 m_appliedImpulse(btScalar(0.)),
-m_dbgDrawSize(DEFAULT_DEBUGDRAW_SIZE)
+m_dbgDrawSize(DEFAULT_DEBUGDRAW_SIZE),
+m_breakingImpulseThreshold(SIMD_INFINITY),
+m_isEnabled(true)
 {
 }
@@ -43 +45 @@
 m_rbB(rbB),
 m_appliedImpulse(btScalar(0.)),
-m_dbgDrawSize(DEFAULT_DEBUGDRAW_SIZE)
+m_dbgDrawSize(DEFAULT_DEBUGDRAW_SIZE),
+m_breakingImpulseThreshold(SIMD_INFINITY),
+m_isEnabled(true)
 {
 }
@@ -141 +145 @@
 }
 
+
+void btAngularLimit::set(btScalar low, btScalar high, btScalar _softness, btScalar _biasFactor, btScalar _relaxationFactor)
+{
+        m_halfRange = (high - low) / 2.0f;
+        m_center = btNormalizeAngle(low + m_halfRange);
+        m_softness =  _softness;
+        m_biasFactor = _biasFactor;
+        m_relaxationFactor = _relaxationFactor;
+}
+
+void btAngularLimit::test(const btScalar angle)
+{
+        m_correction = 0.0f;
+        m_sign = 0.0f;
+        m_solveLimit = false;
+
+        if (m_halfRange >= 0.0f)
+        {
+                btScalar deviation = btNormalizeAngle(angle - m_center);
+                if (deviation < -m_halfRange)
+                {
+                        m_solveLimit = true;
+                        m_correction = - (deviation + m_halfRange);
+                        m_sign = +1.0f;
+                }
+                else if (deviation > m_halfRange)
+                {
+                        m_solveLimit = true;
+                        m_correction = m_halfRange - deviation;
+                        m_sign = -1.0f;
+                }
+        }
+}
+
+
+btScalar btAngularLimit::getError() const
+{
+        return m_correction * m_sign;
+}
+
+void btAngularLimit::fit(btScalar& angle) const
+{
+        if (m_halfRange > 0.0f)
+        {
+                btScalar relativeAngle = btNormalizeAngle(angle - m_center);
+                if (!btEqual(relativeAngle, m_halfRange))
+                {
+                        if (relativeAngle > 0.0f)
+                        {
+                                angle = getHigh();
+                        }
+                        else
+                        {
+                                angle = getLow();
+                        }
+                }
+        }
+}
+
+btScalar btAngularLimit::getLow() const
+{
+        return btNormalizeAngle(m_center - m_halfRange);
+}
+
+btScalar btAngularLimit::getHigh() const
+{
+        return btNormalizeAngle(m_center + m_halfRange);
+}