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Applied polar decomposition patch. Fixes Issue 621. Thanks to Christian for the report, Joshua for the fix, Dongsoo for checking the fix.

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Applied picking cloth patch. Fixes Issue 646. Thanks to Dongsoo.
Applied patch Softbody updateConstraints. Fixes Issue 503. Thanks to Dave Bruce Phillips and Dongsoo.
Fix various warnigns under Mac OSX.
This commit is contained in:
erwin.coumans
2012-09-09 17:22:30 +00:00
parent e208f99289
commit 3b83428a7f
40 changed files with 811 additions and 154 deletions
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6
src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolver_OpenCL.cpp
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@@ -981,7 +981,7 @@ void btOpenCLSoftBodySolver::updateSoftBodies()
int numVertices = m_vertexData.getNumVertices();
int numTriangles = m_triangleData.getNumTriangles();
// int numTriangles = m_triangleData.getNumTriangles();
// Ensure data is on accelerator
m_vertexData.moveToAccelerator();
@@ -1240,8 +1240,8 @@ void btOpenCLSoftBodySolver::solveConstraints( float solverdt )
using Vectormath::Aos::dot;
// Prepare links
int numLinks = m_linkData.getNumLinks();
int numVertices = m_vertexData.getNumVertices();
// int numLinks = m_linkData.getNumLinks();
// int numVertices = m_vertexData.getNumVertices();
float kst = 1.f;
float ti = 0.f;

2
src/BulletMultiThreaded/SpuContactManifoldCollisionAlgorithm.cpp
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@@ -34,7 +34,7 @@ btScalar SpuContactManifoldCollisionAlgorithm::calculateTimeOfImpact(btCollision
}
#ifndef __SPU__
SpuContactManifoldCollisionAlgorithm::SpuContactManifoldCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1)
SpuContactManifoldCollisionAlgorithm::SpuContactManifoldCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObject* body0,const btCollisionObject* body1)
:btCollisionAlgorithm(ci)
#ifdef USE_SEPDISTANCE_UTIL
,m_sepDistance(body0->getCollisionShape()->getAngularMotionDisc(),body1->getCollisionShape()->getAngularMotionDisc())

17
src/BulletMultiThreaded/SpuContactManifoldCollisionAlgorithm.h
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@@ -21,6 +21,7 @@ subject to the following restrictions:
#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
#include "LinearMath/btTransformUtil.h"
#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
class btPersistentManifold;
@@ -37,8 +38,8 @@ ATTRIBUTE_ALIGNED16(class) SpuContactManifoldCollisionAlgorithm : public btColli
float m_collisionMargin0;
float m_collisionMargin1;
btCollisionObject* m_collisionObject0;
btCollisionObject* m_collisionObject1;
const btCollisionObject* m_collisionObject0;
const btCollisionObject* m_collisionObject1;
@@ -50,7 +51,7 @@ public:
virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
SpuContactManifoldCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1);
SpuContactManifoldCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObject* body0,const btCollisionObject* body1);
#ifdef USE_SEPDISTANCE_UTIL
btConvexSeparatingDistanceUtil m_sepDistance;
#endif //USE_SEPDISTANCE_UTIL
@@ -68,12 +69,12 @@ public:
return m_manifoldPtr;
}
btCollisionObject* getCollisionObject0()
const btCollisionObject* getCollisionObject0()
{
return m_collisionObject0;
}
btCollisionObject* getCollisionObject1()
const btCollisionObject* getCollisionObject1()
{
return m_collisionObject1;
}
@@ -108,10 +109,10 @@ public:
struct CreateFunc :public btCollisionAlgorithmCreateFunc
{
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
{
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
{
void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(SpuContactManifoldCollisionAlgorithm));
return new(mem) SpuContactManifoldCollisionAlgorithm(ci,body0,body1);
return new(mem) SpuContactManifoldCollisionAlgorithm(ci,body0Wrap->getCollisionObject(),body1Wrap->getCollisionObject());
}
};

2
src/BulletMultiThreaded/btGpu3DGridBroadphase.cpp
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@@ -393,7 +393,7 @@ void btGpu3DGridBroadphase::addLarge2LargePairsToCache(btDispatcher* dispatcher)
void btGpu3DGridBroadphase::rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback)
void btGpu3DGridBroadphase::rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback,const btVector3& aabbMin,const btVector3& aabbMax)
{
btSimpleBroadphase::rayTest(rayFrom, rayTo, rayCallback);
for (int i=0; i <= m_LastLargeHandleIndex; i++)

4
src/BulletMultiThreaded/btGpu3DGridBroadphase.h
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@@ -103,7 +103,9 @@ public:
virtual btBroadphaseProxy* createProxy(const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr ,short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher,void* multiSapProxy);
virtual void destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
virtual void rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback);
virtual void rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin=btVector3(0,0,0),const btVector3& aabbMax=btVector3(0,0,0));
virtual void resetPool(btDispatcher* dispatcher);
protected:

3
src/BulletMultiThreaded/btParallelConstraintSolver.cpp
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@@ -1271,7 +1271,7 @@ btScalar btParallelConstraintSolver::solveGroup(btCollisionObject** bodies1,int
PfxBroadphasePair& pair = m_memoryCache->m_mypairs[actualNumManifolds];
//init those
float compFric = obA->getFriction()*obB->getFriction();//@todo
// float compFric = obA->getFriction()*obB->getFriction();//@todo
int idA = obA->getCompanionId();
int idB = obB->getCompanionId();
@@ -1291,7 +1291,6 @@ btScalar btParallelConstraintSolver::solveGroup(btCollisionObject** bodies1,int
}
numPosPoints = numPosPoints;
totalPoints+=numPosPoints;
pfxSetRigidBodyIdA(pair,idA);
pfxSetRigidBodyIdB(pair,idB);