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Ported Minkowski Portal Refinement mpr.c from libccd to OpenCL, for bettwe edge-edge performance (and additional contact point for degenerate/high detailed convex shapes)

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Removed b3RigidBodyCL, replace by b3RigidBodyData and b3RigidBodyData_t shared between C++ host and OpenCL,
Same for b3InertiaCL -> b3InertiaData
This commit is contained in:
erwincoumans
2014-01-04 20:54:27 -08:00
parent 999c5ff766
commit 271f458837
52 changed files with 3368 additions and 727 deletions
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24
src/Bullet3Dynamics/ConstraintSolver/b3Generic6DofConstraint.cpp
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@@ -20,7 +20,7 @@ http://gimpact.sf.net
*/
#include "b3Generic6DofConstraint.h"
#include "Bullet3Collision/NarrowPhaseCollision/b3RigidBodyCL.h"
#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
#include "Bullet3Common/b3TransformUtil.h"
#include "Bullet3Common/b3TransformUtil.h"
@@ -36,7 +36,7 @@ http://gimpact.sf.net
b3Generic6DofConstraint::b3Generic6DofConstraint(int rbA,int rbB, const b3Transform& frameInA, const b3Transform& frameInB, bool useLinearReferenceFrameA, const b3RigidBodyCL* bodies)
b3Generic6DofConstraint::b3Generic6DofConstraint(int rbA,int rbB, const b3Transform& frameInA, const b3Transform& frameInB, bool useLinearReferenceFrameA, const b3RigidBodyData* bodies)
: b3TypedConstraint(B3_D6_CONSTRAINT_TYPE, rbA, rbB)
, m_frameInA(frameInA)
, m_frameInB(frameInB),
@@ -214,13 +214,13 @@ void b3Generic6DofConstraint::calculateAngleInfo()
}
static b3Transform getCenterOfMassTransform(const b3RigidBodyCL& body)
static b3Transform getCenterOfMassTransform(const b3RigidBodyData& body)
{
b3Transform tr(body.m_quat,body.m_pos);
return tr;
}
void b3Generic6DofConstraint::calculateTransforms(const b3RigidBodyCL* bodies)
void b3Generic6DofConstraint::calculateTransforms(const b3RigidBodyData* bodies)
{
b3Transform transA;
b3Transform transB;
@@ -229,7 +229,7 @@ void b3Generic6DofConstraint::calculateTransforms(const b3RigidBodyCL* bodies)
calculateTransforms(transA,transB,bodies);
}
void b3Generic6DofConstraint::calculateTransforms(const b3Transform& transA,const b3Transform& transB,const b3RigidBodyCL* bodies)
void b3Generic6DofConstraint::calculateTransforms(const b3Transform& transA,const b3Transform& transB,const b3RigidBodyData* bodies)
{
m_calculatedTransformA = transA * m_frameInA;
m_calculatedTransformB = transB * m_frameInB;
@@ -272,7 +272,7 @@ bool b3Generic6DofConstraint::testAngularLimitMotor(int axis_index)
void b3Generic6DofConstraint::getInfo1 (b3ConstraintInfo1* info,const b3RigidBodyCL* bodies)
void b3Generic6DofConstraint::getInfo1 (b3ConstraintInfo1* info,const b3RigidBodyData* bodies)
{
//prepare constraint
calculateTransforms(getCenterOfMassTransform(bodies[m_rbA]),getCenterOfMassTransform(bodies[m_rbB]),bodies);
@@ -300,7 +300,7 @@ void b3Generic6DofConstraint::getInfo1 (b3ConstraintInfo1* info,const b3RigidBod
// printf("info->m_numConstraintRows=%d\n",info->m_numConstraintRows);
}
void b3Generic6DofConstraint::getInfo1NonVirtual (b3ConstraintInfo1* info,const b3RigidBodyCL* bodies)
void b3Generic6DofConstraint::getInfo1NonVirtual (b3ConstraintInfo1* info,const b3RigidBodyData* bodies)
{
//pre-allocate all 6
info->m_numConstraintRows = 6;
@@ -308,7 +308,7 @@ void b3Generic6DofConstraint::getInfo1NonVirtual (b3ConstraintInfo1* info,const
}
void b3Generic6DofConstraint::getInfo2 (b3ConstraintInfo2* info,const b3RigidBodyCL* bodies)
void b3Generic6DofConstraint::getInfo2 (b3ConstraintInfo2* info,const b3RigidBodyData* bodies)
{
b3Transform transA = getCenterOfMassTransform(bodies[m_rbA]);
@@ -332,7 +332,7 @@ 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)
void b3Generic6DofConstraint::getInfo2NonVirtual (b3ConstraintInfo2* info, const b3Transform& transA,const b3Transform& transB,const b3Vector3& linVelA,const b3Vector3& linVelB,const b3Vector3& angVelA,const b3Vector3& angVelB,const b3RigidBodyData* bodies)
{
//prepare constraint
@@ -447,7 +447,7 @@ void b3Generic6DofConstraint::updateRHS(b3Scalar timeStep)
}
void b3Generic6DofConstraint::setFrames(const b3Transform& frameA, const b3Transform& frameB,const b3RigidBodyCL* bodies)
void b3Generic6DofConstraint::setFrames(const b3Transform& frameA, const b3Transform& frameB,const b3RigidBodyData* bodies)
{
m_frameInA = frameA;
m_frameInB = frameB;
@@ -476,7 +476,7 @@ b3Scalar b3Generic6DofConstraint::getAngle(int axisIndex) const
void b3Generic6DofConstraint::calcAnchorPos(const b3RigidBodyCL* bodies)
void b3Generic6DofConstraint::calcAnchorPos(const b3RigidBodyData* bodies)
{
b3Scalar imA = bodies[m_rbA].m_invMass;
b3Scalar imB = bodies[m_rbB].m_invMass;
@@ -787,7 +787,7 @@ b3Scalar b3Generic6DofConstraint::getParam(int num, int axis) const
void b3Generic6DofConstraint::setAxis(const b3Vector3& axis1,const b3Vector3& axis2, const b3RigidBodyCL* bodies)
void b3Generic6DofConstraint::setAxis(const b3Vector3& axis1,const b3Vector3& axis2, const b3RigidBodyData* bodies)
{
b3Vector3 zAxis = axis1.normalized();
b3Vector3 yAxis = axis2.normalized();