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

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