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move OpenCL initialization for the unit tests in a shared header file, and support some basic command-line arguments

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--cl_device=1 --cl_platform=1 --allow_opencl_cpu
add chaindemo, test for mass ratios
restore sleeping/activation mode in featherstone demo
Use _VARIADIC_MAX=10 to avoid Google Test issues with Visual Studio 2012, thanks to Mobeen for the report
Enable verbose printf for unit tests
This commit is contained in:
erwincoumans
2014-02-11 10:33:00 -08:00
parent bd5c2ff5ec
commit 122ceacb6d
26 changed files with 389 additions and 1388 deletions
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5
Demos3/bullet2/FeatherstoneMultiBodyDemo/BulletMultiBodyDemos.cpp
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@@ -29,6 +29,7 @@ static float friction = 1.;
#include "BulletCollision/CollisionShapes/btShapeHull.h"
#define CONSTRAINT_DEBUG_SIZE 0.2f
static bool prevCanSleep = false;
struct GraphicsVertex
{
@@ -243,6 +244,8 @@ bool Bullet2MultiBodyDemo::mouseButtonCallback(int button, int state, float x, f
btMultiBodyLinkCollider* multiCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(rayCallback.m_collisionObject);
if (multiCol && multiCol->m_multiBody)
{
prevCanSleep = multiCol->m_multiBody->getCanSleep();
multiCol->m_multiBody->setCanSleep(false);
btVector3 pivotInA = multiCol->m_multiBody->worldPosToLocal(multiCol->m_link, pickPos);
@@ -285,7 +288,7 @@ bool Bullet2MultiBodyDemo::mouseButtonCallback(int button, int state, float x, f
if (m_pickingMultiBodyPoint2Point)
{
m_pickingMultiBodyPoint2Point->getMultiBodyA()->setCanSleep(true);
m_pickingMultiBodyPoint2Point->getMultiBodyA()->setCanSleep(prevCanSleep);
btMultiBodyDynamicsWorld* world = (btMultiBodyDynamicsWorld*) m_dynamicsWorld;
world->removeMultiBodyConstraint(m_pickingMultiBodyPoint2Point);
delete m_pickingMultiBodyPoint2Point;