From 22b7c9dfa80d0f7abca40f061865c2ab3c136a74 Mon Sep 17 00:00:00 2001 From: Oussama Date: Thu, 3 Jan 2019 14:26:51 +0100 Subject: Update Bullet to the latest commit 126b676 --- .../Featherstone/btMultiBodySolverConstraint.h | 82 +++++++++++----------- 1 file changed, 41 insertions(+), 41 deletions(-) (limited to 'thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodySolverConstraint.h') diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodySolverConstraint.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodySolverConstraint.h index 6fa1550e9e..deed3e2a12 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodySolverConstraint.h +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodySolverConstraint.h @@ -25,66 +25,66 @@ class btMultiBodyConstraint; #include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h" ///1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and friction constraints. -ATTRIBUTE_ALIGNED16 (struct) btMultiBodySolverConstraint +ATTRIBUTE_ALIGNED16(struct) +btMultiBodySolverConstraint { BT_DECLARE_ALIGNED_ALLOCATOR(); - btMultiBodySolverConstraint() : m_solverBodyIdA(-1), m_multiBodyA(0), m_linkA(-1), m_solverBodyIdB(-1), m_multiBodyB(0), m_linkB(-1),m_orgConstraint(0), m_orgDofIndex(-1) - {} - - int m_deltaVelAindex;//more generic version of m_relpos1CrossNormal/m_contactNormal1 - int m_jacAindex; - int m_deltaVelBindex; - int m_jacBindex; - - btVector3 m_relpos1CrossNormal; - btVector3 m_contactNormal1; - btVector3 m_relpos2CrossNormal; - btVector3 m_contactNormal2; //usually m_contactNormal2 == -m_contactNormal1, but not always - - - btVector3 m_angularComponentA; - btVector3 m_angularComponentB; - - mutable btSimdScalar m_appliedPushImpulse; - mutable btSimdScalar m_appliedImpulse; - - btScalar m_friction; - btScalar m_jacDiagABInv; - btScalar m_rhs; - btScalar m_cfm; - - btScalar m_lowerLimit; - btScalar m_upperLimit; - btScalar m_rhsPenetration; - union + btMultiBodySolverConstraint() : m_solverBodyIdA(-1), m_multiBodyA(0), m_linkA(-1), m_solverBodyIdB(-1), m_multiBodyB(0), m_linkB(-1), m_orgConstraint(0), m_orgDofIndex(-1) { - void* m_originalContactPoint; - btScalar m_unusedPadding4; + } + + int m_deltaVelAindex; //more generic version of m_relpos1CrossNormal/m_contactNormal1 + int m_jacAindex; + int m_deltaVelBindex; + int m_jacBindex; + + btVector3 m_relpos1CrossNormal; + btVector3 m_contactNormal1; + btVector3 m_relpos2CrossNormal; + btVector3 m_contactNormal2; //usually m_contactNormal2 == -m_contactNormal1, but not always + + btVector3 m_angularComponentA; + btVector3 m_angularComponentB; + + mutable btSimdScalar m_appliedPushImpulse; + mutable btSimdScalar m_appliedImpulse; + + btScalar m_friction; + btScalar m_jacDiagABInv; + btScalar m_rhs; + btScalar m_cfm; + + btScalar m_lowerLimit; + btScalar m_upperLimit; + btScalar m_rhsPenetration; + union { + void* m_originalContactPoint; + btScalar m_unusedPadding4; }; - int m_overrideNumSolverIterations; - int m_frictionIndex; + int m_overrideNumSolverIterations; + int m_frictionIndex; int m_solverBodyIdA; btMultiBody* m_multiBodyA; - int m_linkA; - + int m_linkA; + int m_solverBodyIdB; btMultiBody* m_multiBodyB; - int m_linkB; + int m_linkB; //for writing back applied impulses - btMultiBodyConstraint* m_orgConstraint; + btMultiBodyConstraint* m_orgConstraint; int m_orgDofIndex; - enum btSolverConstraintType + enum btSolverConstraintType { BT_SOLVER_CONTACT_1D = 0, BT_SOLVER_FRICTION_1D }; }; -typedef btAlignedObjectArray btMultiBodyConstraintArray; +typedef btAlignedObjectArray btMultiBodyConstraintArray; -#endif //BT_MULTIBODY_SOLVER_CONSTRAINT_H +#endif //BT_MULTIBODY_SOLVER_CONSTRAINT_H -- cgit v1.2.3