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add b3FixedConstraint, with less memory footprint than b3Generic6DofConstraint, and easier to port to OpenCL.

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remove the 'obsolete' part of b3Generic6DofConstraint and b3Point2PointConstraint
This commit is contained in:
erwin coumans
2013-07-06 00:44:06 -07:00
parent 956c3fc267
commit 01e5472f9f
8 changed files with 226 additions and 62 deletions
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64
src/Bullet3Dynamics/ConstraintSolver/b3Generic6DofConstraint.cpp
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@@ -42,8 +42,7 @@ b3Generic6DofConstraint::b3Generic6DofConstraint(int rbA,int rbB, const b3Trans
, m_frameInB(frameInB),
m_useLinearReferenceFrameA(useLinearReferenceFrameA),
m_useOffsetForConstraintFrame(D6_USE_FRAME_OFFSET),
m_flags(0),
m_useSolveConstraintObsolete(D6_USE_OBSOLETE_METHOD)
m_flags(0)
{
calculateTransforms(bodies);
}
@@ -275,56 +274,42 @@ bool b3Generic6DofConstraint::testAngularLimitMotor(int axis_index)
void b3Generic6DofConstraint::getInfo1 (b3ConstraintInfo1* info,const b3RigidBodyCL* bodies)
{
if (m_useSolveConstraintObsolete)
//prepare constraint
calculateTransforms(getCenterOfMassTransform(bodies[m_rbA]),getCenterOfMassTransform(bodies[m_rbB]),bodies);
info->m_numConstraintRows = 0;
info->nub = 6;
int i;
//test linear limits
for(i = 0; i < 3; i++)
{
info->m_numConstraintRows = 0;
info->nub = 0;
} else
{
//prepare constraint
calculateTransforms(getCenterOfMassTransform(bodies[m_rbA]),getCenterOfMassTransform(bodies[m_rbB]),bodies);
info->m_numConstraintRows = 0;
info->nub = 6;
int i;
//test linear limits
for(i = 0; i < 3; i++)
if(m_linearLimits.needApplyForce(i))
{
if(m_linearLimits.needApplyForce(i))
{
info->m_numConstraintRows++;
info->nub--;
}
}
//test angular limits
for (i=0;i<3 ;i++ )
{
if(testAngularLimitMotor(i))
{
info->m_numConstraintRows++;
info->nub--;
}
info->m_numConstraintRows++;
info->nub--;
}
}
//test angular limits
for (i=0;i<3 ;i++ )
{
if(testAngularLimitMotor(i))
{
info->m_numConstraintRows++;
info->nub--;
}
}
// printf("info->m_numConstraintRows=%d\n",info->m_numConstraintRows);
}
void b3Generic6DofConstraint::getInfo1NonVirtual (b3ConstraintInfo1* info,const b3RigidBodyCL* bodies)
{
if (m_useSolveConstraintObsolete)
{
info->m_numConstraintRows = 0;
info->nub = 0;
} else
{
//pre-allocate all 6
info->m_numConstraintRows = 6;
info->nub = 0;
}
//pre-allocate all 6
info->m_numConstraintRows = 6;
info->nub = 0;
}
void b3Generic6DofConstraint::getInfo2 (b3ConstraintInfo2* info,const b3RigidBodyCL* bodies)
{
b3Assert(!m_useSolveConstraintObsolete);
b3Transform transA = getCenterOfMassTransform(bodies[m_rbA]);
b3Transform transB = getCenterOfMassTransform(bodies[m_rbB]);
@@ -350,7 +335,6 @@ void b3Generic6DofConstraint::getInfo2 (b3ConstraintInfo2* info,const b3RigidBod
void b3Generic6DofConstraint::getInfo2NonVirtual (b3ConstraintInfo2* info, const b3Transform& transA,const b3Transform& transB,const b3Vector3& linVelA,const b3Vector3& linVelB,const b3Vector3& angVelA,const b3Vector3& angVelB,const b3RigidBodyCL* bodies)
{
b3Assert(!m_useSolveConstraintObsolete);
//prepare constraint
calculateTransforms(transA,transB,bodies);