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btBlockSolver use m_data2 instead of m_data

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This commit is contained in:
Erwin Coumans
2019-03-11 17:52:55 -07:00
parent 4ea907aacf
commit 0caf51a54e
2 changed files with 25 additions and 25 deletions
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46
examples/BlockSolver/btBlockSolver.cpp
View File

@@ -41,36 +41,36 @@ struct btBlockSolverInternalData
btBlockSolver::btBlockSolver()
{
m_data = new btBlockSolverInternalData;
m_data2 = new btBlockSolverInternalData;
}
btBlockSolver::~btBlockSolver()
{
delete m_data;
delete m_data2;
}
btScalar btBlockSolver::solveGroup(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btDispatcher* dispatcher)
{
btSISolverSingleIterationData siData(m_data->m_tmpSolverBodyPool,
m_data->m_tmpSolverContactConstraintPool,
m_data->m_tmpSolverNonContactConstraintPool,
m_data->m_tmpSolverContactFrictionConstraintPool,
m_data->m_tmpSolverContactRollingFrictionConstraintPool,
m_data->m_orderTmpConstraintPool,
m_data->m_orderNonContactConstraintPool,
m_data->m_orderFrictionConstraintPool,
m_data->m_tmpConstraintSizesPool,
m_data->m_resolveSingleConstraintRowGeneric,
m_data->m_resolveSingleConstraintRowLowerLimit,
m_data->m_resolveSplitPenetrationImpulse,
m_data->m_kinematicBodyUniqueIdToSolverBodyTable,
m_data->m_btSeed2,
m_data->m_fixedBodyId,
m_data->m_maxOverrideNumSolverIterations);
btSISolverSingleIterationData siData(m_data2->m_tmpSolverBodyPool,
m_data2->m_tmpSolverContactConstraintPool,
m_data2->m_tmpSolverNonContactConstraintPool,
m_data2->m_tmpSolverContactFrictionConstraintPool,
m_data2->m_tmpSolverContactRollingFrictionConstraintPool,
m_data2->m_orderTmpConstraintPool,
m_data2->m_orderNonContactConstraintPool,
m_data2->m_orderFrictionConstraintPool,
m_data2->m_tmpConstraintSizesPool,
m_data2->m_resolveSingleConstraintRowGeneric,
m_data2->m_resolveSingleConstraintRowLowerLimit,
m_data2->m_resolveSplitPenetrationImpulse,
m_data2->m_kinematicBodyUniqueIdToSolverBodyTable,
m_data2->m_btSeed2,
m_data2->m_fixedBodyId,
m_data2->m_maxOverrideNumSolverIterations);
m_data->m_fixedBodyId = -1;
m_data2->m_fixedBodyId = -1;
//todo: setup sse2/4 constraint row methods
btSequentialImpulseConstraintSolver::convertBodiesInternal(siData, bodies, numBodies, info);
@@ -154,7 +154,7 @@ void btBlockSolver::solveMultiBodyGroup(btCollisionObject * *bodies, int numBodi
void btBlockSolver::reset()
{
//or just set m_data->m_btSeed2=0?
delete m_data;
m_data = new btBlockSolverInternalData;
}
//or just set m_data2->m_btSeed2=0?
delete m_data2;
m_data2 = new btBlockSolverInternalData;
}

4
examples/BlockSolver/btBlockSolver.h
View File

@@ -5,7 +5,7 @@
class btBlockSolver : public btMultiBodyConstraintSolver
{
struct btBlockSolverInternalData* m_data;
struct btBlockSolverInternalData* m_data2;
public:
btBlockSolver();
@@ -26,4 +26,4 @@ public:
}
};
#endif //BT_BLOCK_SOLVER_H
#endif //BT_BLOCK_SOLVER_H