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change lcpp Lua preprocessor, to keep #defines and comments, remove empty lines

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remove duplicate data in b3Contact4 (now in btContact4Data shared between CPU/C++ and OpenCL)
OpenCL kernels use #include "Bullet3Collision/NarrowPhaseCollision/shared/b3Contact4Data.h"
Increase number of batches back to 250 (from 50), need to fix this hard coded number (see https://github.com/erwincoumans/bullet3/issues/12)
Work towards GJK/EPA, in addition to SAT/clipping (early on)
This commit is contained in:
erwincoumans
2013-08-08 12:24:09 -07:00
parent 46a08e3282
commit 3bf003ace1
50 changed files with 920 additions and 2731 deletions
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17
src/Bullet3Collision/NarrowPhaseCollision/b3Contact4.h
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@@ -23,23 +23,6 @@ B3_ATTRIBUTE_ALIGNED16(struct) b3Contact4 : public b3Contact4Data
{
B3_DECLARE_ALIGNED_ALLOCATOR();
b3Vector3 m_worldPos[4];
b3Vector3 m_worldNormal;
// float m_restituitionCoeff;
// float m_frictionCoeff;
unsigned short m_restituitionCoeffCmp;
unsigned short m_frictionCoeffCmp;
int m_batchIdx;
int m_bodyAPtrAndSignBit;
int m_bodyBPtrAndSignBit;
int m_childIndexA;
int m_childIndexB;
int m_unused1;
int m_unused2;
int getBodyA()const {return abs(m_bodyAPtrAndSignBit);}
int getBodyB()const {return abs(m_bodyBPtrAndSignBit);}
bool isBodyAFixed()const { return m_bodyAPtrAndSignBit<0;}

26
src/Bullet3Collision/NarrowPhaseCollision/shared/b3Contact4Data.h
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@@ -3,13 +3,16 @@
#include "Bullet3Common/shared/b3Float4.h"
typedef struct
typedef struct b3Contact4Data b3Contact4Data_t;
struct b3Contact4Data
{
b3Float4 m_worldPos[4];
// b3Float4 m_localPosB[4];
b3Float4 m_worldNormal; // w: m_nPoints
unsigned int m_coeffs;
unsigned int m_batchIdx;
unsigned short m_restituitionCoeffCmp;
unsigned short m_frictionCoeffCmp;
int m_batchIdx;
int m_bodyAPtrAndSignBit;//x:m_bodyAPtr, y:m_bodyBPtr
int m_bodyBPtrAndSignBit;
@@ -18,6 +21,19 @@ typedef struct
int m_unused1;
int m_unused2;
} b3Contact4Data;
b3Float4 m_localPosA;
};
inline int b3Contact4Data_getNumPoints(const struct b3Contact4Data* contact)
{
return (int)contact->m_worldNormal.w;
};
inline void b3Contact4Data_setNumPoints(struct b3Contact4Data* contact, int numPoints)
{
contact->m_worldNormal.w = (float)numPoints;
};
#endif //B3_CONTACT4DATA_H