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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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13
src/Bullet3Dynamics/ConstraintSolver/b3Point2PointConstraint.cpp
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@@ -25,8 +25,7 @@ subject to the following restrictions:
b3Point2PointConstraint::b3Point2PointConstraint(int rbA,int rbB, const b3Vector3& pivotInA,const b3Vector3& pivotInB)
:b3TypedConstraint(B3_POINT2POINT_CONSTRAINT_TYPE,rbA,rbB),m_pivotInA(pivotInA),m_pivotInB(pivotInB),
m_flags(0),
m_useSolveConstraintObsolete(false)
m_flags(0)
{
}
@@ -49,15 +48,8 @@ void b3Point2PointConstraint::getInfo1 (b3ConstraintInfo1* info,const b3RigidBod
void b3Point2PointConstraint::getInfo1NonVirtual (b3ConstraintInfo1* info,const b3RigidBodyCL* bodies)
{
if (m_useSolveConstraintObsolete)
{
info->m_numConstraintRows = 0;
info->nub = 0;
} else
{
info->m_numConstraintRows = 3;
info->nub = 3;
}
}
@@ -80,7 +72,6 @@ void b3Point2PointConstraint::getInfo2 (b3ConstraintInfo2* info, const b3RigidBo
void b3Point2PointConstraint::getInfo2NonVirtual (b3ConstraintInfo2* info, const b3Transform& body0_trans, const b3Transform& body1_trans)
{
b3Assert(!m_useSolveConstraintObsolete);
//retrieve matrices
@@ -92,6 +83,8 @@ void b3Point2PointConstraint::getInfo2NonVirtual (b3ConstraintInfo2* info, const
info->m_J1linearAxis[2*info->rowskip+2] = 1;
b3Vector3 a1 = body0_trans.getBasis()*getPivotInA();
b3Vector3 a1a = b3QuatRotate(body0_trans.getRotation(),getPivotInA());
{
b3Vector3* angular0 = (b3Vector3*)(info->m_J1angularAxis);
b3Vector3* angular1 = (b3Vector3*)(info->m_J1angularAxis+info->rowskip);