diff options
author | Oussama <o.boukhelf@gmail.com> | 2019-01-03 14:26:51 +0100 |
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committer | RĂ©mi Verschelde <rverschelde@gmail.com> | 2019-01-07 12:30:35 +0100 |
commit | 22b7c9dfa80d0f7abca40f061865c2ab3c136a74 (patch) | |
tree | 311cd3f22b012329160f9d43810aea429994af48 /thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuGenericConstraint.cpp | |
parent | a6722cf36251ddcb538e6ebed9fa4950342b68ba (diff) |
Update Bullet to the latest commit 126b676
Diffstat (limited to 'thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuGenericConstraint.cpp')
-rw-r--r-- | thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuGenericConstraint.cpp | 75 |
1 files changed, 36 insertions, 39 deletions
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuGenericConstraint.cpp b/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuGenericConstraint.cpp index af687b54e9..a271090af4 100644 --- a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuGenericConstraint.cpp +++ b/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuGenericConstraint.cpp @@ -19,11 +19,11 @@ subject to the following restrictions: #include <new> #include "Bullet3Common/b3Transform.h" -void b3GpuGenericConstraint::getInfo1 (unsigned int* info,const b3RigidBodyData* bodies) +void b3GpuGenericConstraint::getInfo1(unsigned int* info, const b3RigidBodyData* bodies) { switch (m_constraintType) { - case B3_GPU_POINT2POINT_CONSTRAINT_TYPE: + case B3_GPU_POINT2POINT_CONSTRAINT_TYPE: { *info = 3; break; @@ -35,7 +35,7 @@ void b3GpuGenericConstraint::getInfo1 (unsigned int* info,const b3RigidBodyData* }; } -void getInfo2Point2Point(b3GpuGenericConstraint* constraint, b3GpuConstraintInfo2* info, const b3RigidBodyData* bodies) +void getInfo2Point2Point(b3GpuGenericConstraint* constraint, b3GpuConstraintInfo2* info, const b3RigidBodyData* bodies) { b3Transform trA; trA.setIdentity(); @@ -47,54 +47,52 @@ void getInfo2Point2Point(b3GpuGenericConstraint* constraint, b3GpuConstraintInfo trB.setOrigin(bodies[constraint->m_rbB].m_pos); trB.setRotation(bodies[constraint->m_rbB].m_quat); - // anchor points in global coordinates with respect to body PORs. - - // set jacobian - info->m_J1linearAxis[0] = 1; - info->m_J1linearAxis[info->rowskip+1] = 1; - info->m_J1linearAxis[2*info->rowskip+2] = 1; + // anchor points in global coordinates with respect to body PORs. - b3Vector3 a1 = trA.getBasis()*constraint->getPivotInA(); + // set jacobian + info->m_J1linearAxis[0] = 1; + info->m_J1linearAxis[info->rowskip + 1] = 1; + info->m_J1linearAxis[2 * info->rowskip + 2] = 1; + + b3Vector3 a1 = trA.getBasis() * constraint->getPivotInA(); //b3Vector3 a1a = b3QuatRotate(trA.getRotation(),constraint->getPivotInA()); { b3Vector3* angular0 = (b3Vector3*)(info->m_J1angularAxis); - b3Vector3* angular1 = (b3Vector3*)(info->m_J1angularAxis+info->rowskip); - b3Vector3* angular2 = (b3Vector3*)(info->m_J1angularAxis+2*info->rowskip); + b3Vector3* angular1 = (b3Vector3*)(info->m_J1angularAxis + info->rowskip); + b3Vector3* angular2 = (b3Vector3*)(info->m_J1angularAxis + 2 * info->rowskip); b3Vector3 a1neg = -a1; - a1neg.getSkewSymmetricMatrix(angular0,angular1,angular2); + a1neg.getSkewSymmetricMatrix(angular0, angular1, angular2); } - + if (info->m_J2linearAxis) { info->m_J2linearAxis[0] = -1; - info->m_J2linearAxis[info->rowskip+1] = -1; - info->m_J2linearAxis[2*info->rowskip+2] = -1; + info->m_J2linearAxis[info->rowskip + 1] = -1; + info->m_J2linearAxis[2 * info->rowskip + 2] = -1; } - - b3Vector3 a2 = trB.getBasis()*constraint->getPivotInB(); - + + b3Vector3 a2 = trB.getBasis() * constraint->getPivotInB(); + { - // b3Vector3 a2n = -a2; + // b3Vector3 a2n = -a2; b3Vector3* angular0 = (b3Vector3*)(info->m_J2angularAxis); - b3Vector3* angular1 = (b3Vector3*)(info->m_J2angularAxis+info->rowskip); - b3Vector3* angular2 = (b3Vector3*)(info->m_J2angularAxis+2*info->rowskip); - a2.getSkewSymmetricMatrix(angular0,angular1,angular2); + b3Vector3* angular1 = (b3Vector3*)(info->m_J2angularAxis + info->rowskip); + b3Vector3* angular2 = (b3Vector3*)(info->m_J2angularAxis + 2 * info->rowskip); + a2.getSkewSymmetricMatrix(angular0, angular1, angular2); } - - - // set right hand side -// b3Scalar currERP = (m_flags & B3_P2P_FLAGS_ERP) ? m_erp : info->erp; + // set right hand side + // b3Scalar currERP = (m_flags & B3_P2P_FLAGS_ERP) ? m_erp : info->erp; b3Scalar currERP = info->erp; b3Scalar k = info->fps * currERP; - int j; - for (j=0; j<3; j++) - { - info->m_constraintError[j*info->rowskip] = k * (a2[j] + trB.getOrigin()[j] - a1[j] - trA.getOrigin()[j]); + int j; + for (j = 0; j < 3; j++) + { + info->m_constraintError[j * info->rowskip] = k * (a2[j] + trB.getOrigin()[j] - a1[j] - trA.getOrigin()[j]); //printf("info->m_constraintError[%d]=%f\n",j,info->m_constraintError[j]); - } + } #if 0 if(m_flags & B3_P2P_FLAGS_CFM) { @@ -117,21 +115,20 @@ void getInfo2Point2Point(b3GpuGenericConstraint* constraint, b3GpuConstraintInfo } info->m_damping = m_setting.m_damping; #endif - } -void b3GpuGenericConstraint::getInfo2 (b3GpuConstraintInfo2* info, const b3RigidBodyData* bodies) +void b3GpuGenericConstraint::getInfo2(b3GpuConstraintInfo2* info, const b3RigidBodyData* bodies) { switch (m_constraintType) { - case B3_GPU_POINT2POINT_CONSTRAINT_TYPE: + case B3_GPU_POINT2POINT_CONSTRAINT_TYPE: { - getInfo2Point2Point(this,info,bodies); + getInfo2Point2Point(this, info, bodies); break; }; default: - { - b3Assert(0); - } + { + b3Assert(0); + } }; } |