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Viewing changes to extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactConstraint.cpp

  • Committer: Bazaar Package Importer
  • Author(s): Khashayar Naderehvandi, Khashayar Naderehvandi, Alessio Treglia
  • Date: 2009-01-22 16:53:59 UTC
  • mfrom: (14.1.1 experimental)
  • Revision ID: james.westby@ubuntu.com-20090122165359-v0996tn7fbit64ni
Tags: 2.48a+dfsg-1ubuntu1
https://launchpad.net/bugs/320045
[ Khashayar Naderehvandi ]
* Merge from debian experimental (LP: #320045), Ubuntu remaining changes:
  - Add patch correcting header file locations.
  - Add libvorbis-dev and libgsm1-dev to Build-Depends.
  - Use avcodec_decode_audio2() in source/blender/src/hddaudio.c

[ Alessio Treglia ]
* Add missing previous changelog entries.

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Lines of Context:
extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactConstraint.cpp
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                        j1 = -vrel * cpd->m_jacDiagABInvTangent0;
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                        btScalar oldTangentImpulse = cpd->m_accumulatedTangentImpulse0;
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                        cpd->m_accumulatedTangentImpulse0 = oldTangentImpulse + j1;
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                        GEN_set_min(cpd->m_accumulatedTangentImpulse0, limit);
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                        GEN_set_max(cpd->m_accumulatedTangentImpulse0, -limit);
 
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                        btSetMin(cpd->m_accumulatedTangentImpulse0, limit);
 
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                        btSetMax(cpd->m_accumulatedTangentImpulse0, -limit);
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                        j1 = cpd->m_accumulatedTangentImpulse0 - oldTangentImpulse;
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                }
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                        j2 = -vrel * cpd->m_jacDiagABInvTangent1;
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                        btScalar oldTangentImpulse = cpd->m_accumulatedTangentImpulse1;
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                        cpd->m_accumulatedTangentImpulse1 = oldTangentImpulse + j2;
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                        GEN_set_min(cpd->m_accumulatedTangentImpulse1, limit);
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                        GEN_set_max(cpd->m_accumulatedTangentImpulse1, -limit);
 
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                        btSetMin(cpd->m_accumulatedTangentImpulse1, limit);
 
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                        btSetMax(cpd->m_accumulatedTangentImpulse1, -limit);
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                        j2 = cpd->m_accumulatedTangentImpulse1 - oldTangentImpulse;
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                }
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        btRigidBody& body1,
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        btRigidBody& body2,
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        btManifoldPoint& contactPoint,
 
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        const btContactSolverInfo& solverInfo);
 
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btScalar resolveSingleFrictionOriginal(
 
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        btRigidBody& body1,
 
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        btRigidBody& body2,
 
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        btManifoldPoint& contactPoint,
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        const btContactSolverInfo& solverInfo)
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{
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                        // calculate j that moves us to zero relative velocity
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                        btScalar j = -vrel * cpd->m_jacDiagABInvTangent0;
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                        btScalar total = cpd->m_accumulatedTangentImpulse0 + j;
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                        GEN_set_min(total, limit);
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                        GEN_set_max(total, -limit);
 
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                        btSetMin(total, limit);
 
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                        btSetMax(total, -limit);
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                        j = total - cpd->m_accumulatedTangentImpulse0;
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                        cpd->m_accumulatedTangentImpulse0 = total;
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                        body1.applyImpulse(j * cpd->m_frictionWorldTangential0, rel_pos1);
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                        // calculate j that moves us to zero relative velocity
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                        btScalar j = -vrel * cpd->m_jacDiagABInvTangent1;
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                        btScalar total = cpd->m_accumulatedTangentImpulse1 + j;
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                        GEN_set_min(total, limit);
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                        GEN_set_max(total, -limit);
 
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                        btSetMin(total, limit);
 
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                        btSetMax(total, -limit);
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                        j = total - cpd->m_accumulatedTangentImpulse1;
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                        cpd->m_accumulatedTangentImpulse1 = total;
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                        body1.applyImpulse(j * cpd->m_frictionWorldTangential1, rel_pos1);
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                                (body1.getInvMass() + body2.getInvMass() + lat_vel.dot(temp1.cross(rel_pos1) + temp2.cross(rel_pos2)));
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                        btScalar normal_impulse = cpd->m_appliedImpulse * combinedFriction;
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                        GEN_set_min(friction_impulse, normal_impulse);
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                        GEN_set_max(friction_impulse, -normal_impulse);
 
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                        btSetMin(friction_impulse, normal_impulse);
 
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                        btSetMax(friction_impulse, -normal_impulse);
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                        body1.applyImpulse(lat_vel * -friction_impulse, rel_pos1);
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                        body2.applyImpulse(lat_vel * friction_impulse, rel_pos2);
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                }
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        btRigidBody& body1,
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        btRigidBody& body2,
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        btManifoldPoint& contactPoint,
 
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        const btContactSolverInfo& solverInfo);
 
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btScalar resolveSingleFrictionEmpty(
 
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        btRigidBody& body1,
 
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        btRigidBody& body2,
 
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        btManifoldPoint& contactPoint,
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        const btContactSolverInfo& solverInfo)
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{
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        (void)contactPoint;