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Share btGjkPairDetector, btGjkEpa2, btVoronoiSimplexSolver with SPU/Multithreaded implementation (remove duplicate code)

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Make btTypedConstraint and btPersistentManifold both derive from btTypedObject to make SPU-side generic constraint solver easier.

Note: all build systems need to be updated: remove SpuVoronoiSimplexSolver.cpp, SpuGjkPairDetector.cpp, SpuEpaPenetrationDepthSolver.cpp, SpuGjkEpa2.cpp
This commit is contained in:
erwin.coumans
2009-08-07 08:57:56 +00:00
parent 5d2cf447e4
commit aef97d6015
30 changed files with 283 additions and 2505 deletions
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17
src/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp
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@@ -22,10 +22,10 @@ static btRigidBody s_fixed(0, 0,0);
#define DEFAULT_DEBUGDRAW_SIZE btScalar(0.3f)
btTypedConstraint::btTypedConstraint(btTypedConstraintType type)
:m_userConstraintType(-1),
:btTypedObject(type),
m_userConstraintType(-1),
m_userConstraintId(-1),
m_needsFeedback(false),
m_constraintType (type),
m_rbA(s_fixed),
m_rbB(s_fixed),
m_appliedImpulse(btScalar(0.)),
@@ -34,31 +34,30 @@ m_dbgDrawSize(DEFAULT_DEBUGDRAW_SIZE)
s_fixed.setMassProps(btScalar(0.),btVector3(btScalar(0.),btScalar(0.),btScalar(0.)));
}
btTypedConstraint::btTypedConstraint(btTypedConstraintType type, btRigidBody& rbA)
:m_userConstraintType(-1),
:btTypedObject(type),
m_userConstraintType(-1),
m_userConstraintId(-1),
m_needsFeedback(false),
m_constraintType (type),
m_rbA(rbA),
m_rbB(s_fixed),
m_appliedImpulse(btScalar(0.)),
m_dbgDrawSize(DEFAULT_DEBUGDRAW_SIZE)
{
s_fixed.setMassProps(btScalar(0.),btVector3(btScalar(0.),btScalar(0.),btScalar(0.)));
s_fixed.setMassProps(btScalar(0.),btVector3(btScalar(0.),btScalar(0.),btScalar(0.)));
}
btTypedConstraint::btTypedConstraint(btTypedConstraintType type, btRigidBody& rbA,btRigidBody& rbB)
:m_userConstraintType(-1),
:btTypedObject(type),
m_userConstraintType(-1),
m_userConstraintId(-1),
m_needsFeedback(false),
m_constraintType (type),
m_rbA(rbA),
m_rbB(rbB),
m_appliedImpulse(btScalar(0.)),
m_dbgDrawSize(DEFAULT_DEBUGDRAW_SIZE)
{
s_fixed.setMassProps(btScalar(0.),btVector3(btScalar(0.),btScalar(0.),btScalar(0.)));
s_fixed.setMassProps(btScalar(0.),btVector3(btScalar(0.),btScalar(0.),btScalar(0.)));
}

12
src/BulletDynamics/ConstraintSolver/btTypedConstraint.h
View File

@@ -19,14 +19,12 @@ subject to the following restrictions:
class btRigidBody;
#include "LinearMath/btScalar.h"
#include "btSolverConstraint.h"
#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
struct btSolverBody;
enum btTypedConstraintType
{
POINT2POINT_CONSTRAINT_TYPE,
POINT2POINT_CONSTRAINT_TYPE=MAX_CONTACT_MANIFOLD_TYPE+1,
HINGE_CONSTRAINT_TYPE,
CONETWIST_CONSTRAINT_TYPE,
D6_CONSTRAINT_TYPE,
@@ -35,14 +33,12 @@ enum btTypedConstraintType
};
///TypedConstraint is the baseclass for Bullet constraints and vehicles
class btTypedConstraint
class btTypedConstraint : public btTypedObject
{
int m_userConstraintType;
int m_userConstraintId;
bool m_needsFeedback;
btTypedConstraintType m_constraintType;
btTypedConstraint& operator=(btTypedConstraint& other)
{
btAssert(0);
@@ -231,7 +227,7 @@ public:
btTypedConstraintType getConstraintType () const
{
return m_constraintType;
return btTypedConstraintType(m_objectType);
}
void setDbgDrawSize(btScalar dbgDrawSize)