3 new constraints added : btGeneric6DofSpringConstraint, btUniversalConstraint, btHinge2Constraint

Motors for btConeTwistConstraint added (for obsolete solver only)
appConstraintDemo changed to test new constraints
Several coding-style fixes

Demos/Gpu2dDemo/BasicDemo.cpp

@@ -18,8 +18,6 @@ subject to the following restrictions:
 #include "BulletMultiThreaded/btGpuUtilsSharedDefs.h"
 #include "BulletMultiThreaded/btGpuUtilsSharedCode.h"
 
-//----------------------------------------------------------------------------------------
-
 
 #include "BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h"
 

Demos/Gpu2dDemo/btGpuDemo2dCpuFunc.cpp

@@ -13,21 +13,18 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-//----------------------------------------------------------------------------------------
+
 
 #include "LinearMath/btQuickprof.h"
 
-//----------------------------------------------------------------------------------------
+
 #include "LinearMath/btScalar.h"
 
 #include "btGpuDemo2dSharedTypes.h"
 
-//----------------------------------------------------------------------------------------
+
 
 #include "BulletMultiThreaded/btGpuDefines.h"
 #include "BulletMultiThreaded/btGpuUtilsSharedDefs.h"
 #include "btGpuDemo2dSharedCode.h"
 
-//--------------------------------------------------------------------------
-//--------------------------------------------------------------------------
-//--------------------------------------------------------------------------

Demos/Gpu2dDemo/btGpuDemo2dSharedCode.h

@@ -13,7 +13,7 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-//----------------------------------------------------------------------------------------
+
 
 #define USE_FRICTION 1
 #define FRICTION_BOX_GROUND_FACT 0.05f
@@ -21,14 +21,7 @@ subject to the following restrictions:
 #define USE_CENTERS 1
 //#include "LinearMath/btMinMax.h"
 
-//------------------------------------------------------------------------------------------------
-//------------------------------------------------------------------------------------------------
-//------------------------------------------------------------------------------------------------
-//----------------------------------------------------------------------------------------
-//----------------------------------------------------------------------------------------
 //----------   C o n s t r a i n t   s o l v e r    d e m o   ----------------------------
-//----------------------------------------------------------------------------------------
-//----------------------------------------------------------------------------------------
 
 #define MAX_VTX_PER_OBJ 8
 

Demos/Gpu2dDemo/btGpuDemo2dSharedDefs.h

@@ -13,11 +13,11 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-//----------------------------------------------------------------------------------------
-//----------------------------------------------------------------------------------------
+
+
 //----------   C o n s t r a i n t   s o l v e r    d e m o   ----------------------------
-//----------------------------------------------------------------------------------------
-//----------------------------------------------------------------------------------------
+
+
 
 
 extern "C"
@@ -30,4 +30,4 @@ void BT_GPU_PREF(collisionBatchResolutionBox(void* constraints,int *batch,int nu
 
 }   // extern "C"
 
-//----------------------------------------------------------------------------------------
+

Demos/Gpu2dDemo/btGpuDemo2dSharedTypes.h

@@ -13,11 +13,7 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-//----------------------------------------------------------------------------------------
-//----------------------------------------------------------------------------------------
 //----------   C o n s t r a i n t   s o l v e r    d e m o   ----------------------------
-//----------------------------------------------------------------------------------------
-//----------------------------------------------------------------------------------------
 
 struct btCudaPartProps
 {
@@ -36,4 +32,4 @@ struct btCudaBoxProps
 	float maxZ;
 };
 
-//----------------------------------------------------------------------------------------
+

Demos/Gpu2dDemo/btGpuDemoDynamicsWorld.cpp

@@ -13,7 +13,7 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-//--------------------------------------------------------------------------
+
 
 #include "btGpuDemoDynamicsWorld.h"
 #include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
@@ -28,7 +28,7 @@ subject to the following restrictions:
 #include "BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h"
 
 
-//--------------------------------------------------------------------------
+
 
 #define BT_GPU_PREF(func) btCuda_##func
 
@@ -40,11 +40,11 @@ subject to the following restrictions:
 #include "btGpuDemo2dSharedDefs.h"
 #undef BT_GPU_PREF
 
-//--------------------------------------------------------------------------
+
 
 btGpuDemoDynamicsWorld* gpCudaDemoDynamicsWorld = NULL;
 
-//--------------------------------------------------------------------------
+
 
 void btGpuDemoDynamicsWorld::grabNonContactConstraintData()
 {
@@ -64,9 +64,9 @@ void btGpuDemoDynamicsWorld::grabNonContactConstraintData()
 				break;
 		}
 	}
-} // btGpuDemoDynamicsWorld::grabNonContactConstraintData()
+}
+
 
-//--------------------------------------------------------------------------
 
 void btGpuDemoDynamicsWorld::grabContactData()
 {
@@ -137,9 +137,9 @@ void btGpuDemoDynamicsWorld::grabContactData()
 		}
 		m_totalNumConstraints++;
 	}
-} // btCudaDemoDynamicsWorld::grabContactData()
+} 
+
 
-//--------------------------------------------------------------------------
 
 void btGpuDemoDynamicsWorld::grabP2PConstraintData(btPoint2PointConstraint* ct)
 {
@@ -177,9 +177,9 @@ void btGpuDemoDynamicsWorld::grabP2PConstraintData(btPoint2PointConstraint* ct)
 	}
 	m_totalNumConstraints++;
 	m_numNonContactConstraints++;
-} // btGpuDemoDynamicsWorld::grabP2PConstraintData()
+} 
+
 
-//--------------------------------------------------------------------------
 
 void btGpuDemoDynamicsWorld::grabData()
 {
@@ -214,9 +214,9 @@ void btGpuDemoDynamicsWorld::grabData()
 		grabContactData();
 	}
 	grabNonContactConstraintData();
-} // btGpuDemoDynamicsWorld::grabGata()
+} 
+
 
-//--------------------------------------------------------------------------
 
 void btGpuDemoDynamicsWorld::createBatches2()
 {
@@ -268,9 +268,9 @@ void btGpuDemoDynamicsWorld::createBatches2()
 		m_numInBatches[stage] = numInBatch;
 		pBatchIds += numInBatch;
 	}
-} // btGpuDemoDynamicsWorld::createBatches2()
+} 
+
 
-//--------------------------------------------------------------------------
 
 void btGpuDemoDynamicsWorld::writebackData()
 {
@@ -288,9 +288,9 @@ void btGpuDemoDynamicsWorld::writebackData()
 		v[2] = m_hAngVel[i + 1];
 		rb->setAngularVelocity(v);
 	}
-} // btGpuDemoDynamicsWorld::writebackData()
+} 
+
 
-//--------------------------------------------------------------------------
 
 void btGpuDemoDynamicsWorld::copyDataToGPU()
 {
@@ -339,9 +339,9 @@ void btGpuDemoDynamicsWorld::copyDataToGPU()
 	}
 #endif //BT_USE_CUDA
 
-} // btGpuDemoDynamicsWorld::copyDataToGPU()
+} 
+
 
-//--------------------------------------------------------------------------
 
 void btGpuDemoDynamicsWorld::setConstraintData(btCudaPartProps& partProps)
 {
@@ -358,9 +358,9 @@ void btGpuDemoDynamicsWorld::setConstraintData(btCudaPartProps& partProps)
 		}
 #endif //BT_USE_CUDA
 
-} // btGpuDemoDynamicsWorld::setConstraintData()
+} 
+
 
-//--------------------------------------------------------------------------
 
 void btGpuDemoDynamicsWorld::copyDataFromGPU()
 {
@@ -369,9 +369,9 @@ void btGpuDemoDynamicsWorld::copyDataFromGPU()
 	btCuda_copyArrayFromDevice(m_hVel, m_dcVel, (m_numObj + 1) * sizeof(float4));
 	btCuda_copyArrayFromDevice(m_hAngVel, m_dcAngVel, (m_numObj + 1) * sizeof(float)); 
 #endif //BT_USE_CUDA
-} // btGpuDemoDynamicsWorld::copyDataFromGPU()
+} 
+
 
-//--------------------------------------------------------------------------
 
 void btGpuDemoDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
 {
@@ -384,9 +384,9 @@ void btGpuDemoDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
 		solveConstraints2(solverInfo);
 	}
 	m_totalNumConstraints = 0;
-} // btGpuDemoDynamicsWorld::solveConstraints()
+} 
+
 
-//--------------------------------------------------------------------------
 
 void btGpuDemoDynamicsWorld::solveConstraints2(btContactSolverInfo& solverInfo)
 {
@@ -433,9 +433,9 @@ void btGpuDemoDynamicsWorld::solveConstraints2(btContactSolverInfo& solverInfo)
 	writebackData();
 	m_numSimStep++;
 #endif //BT_USE_CUDA
-} // btGpuDemoDynamicsWorld::solveConstraints2()
+} 
+
 
-//--------------------------------------------------------------------------
 
 void btGpuDemoDynamicsWorld::solveConstraintsCPU2(btContactSolverInfo& solverInfo)
 {
@@ -496,9 +496,9 @@ void btGpuDemoDynamicsWorld::solveConstraintsCPU2(btContactSolverInfo& solverInf
 	}
 	writebackData();
 	m_numSimStep++;
-} // btGpuDemoDynamicsWorld::solveConstraintsCPU2()
+} 
+
 
-//--------------------------------------------------------------------------
 
 void btGpuDemoDynamicsWorld::debugDrawConstraints(int selectedBatch, const float* pColorTab)
 {
@@ -539,10 +539,9 @@ void btGpuDemoDynamicsWorld::debugDrawConstraints(int selectedBatch, const float
 		pBatchIds += numConstraints;
 		glEnd();
 	}
-} // btGpuDemoDynamicsWorld::debugDrawConstraints()
+} 
+
 
-//--------------------------------------------------------------------------
-//--------------------------------------------------------------------------
 
 void btGpuDemoDynamicsWorld::initShapeBuffer(int maxShapeBufferSize)
 {
@@ -557,9 +556,9 @@ void btGpuDemoDynamicsWorld::initShapeBuffer(int maxShapeBufferSize)
 #endif //BT_USE_CUDA
 
 	m_copyShapeDataToGPU = true;
-} // btGpuDemoDynamicsWorld::initShapeBuffer()
+} 
+
 
-//--------------------------------------------------------------------------
 
 void btGpuDemoDynamicsWorld::freeShapeBuffer()
 {
@@ -569,9 +568,9 @@ void btGpuDemoDynamicsWorld::freeShapeBuffer()
 	btCuda_freeArray(m_dShapeBuffer);
 	btCuda_freeArray(m_dShapeIds);
 #endif //BT_USE_CUDA
-} // btGpuDemoDynamicsWorld::freeShapeBuffer()
+} 
+
 
-//--------------------------------------------------------------------------
 
 void btGpuDemoDynamicsWorld::addSphere(btVector3& pos, btScalar rad)
 {
@@ -579,18 +578,15 @@ void btGpuDemoDynamicsWorld::addSphere(btVector3& pos, btScalar rad)
 	*pBuf = pos;
 	pBuf->setW(rad);
 	m_firstFreeShapeBufferOffset += sizeof(btVector3);
-} // btGpuDemoDynamicsWorld::addSphere()
+} 
+
 
-//--------------------------------------------------------------------------
 
 void btGpuDemoDynamicsWorld::addMultiShereObject(int numSpheres, int objIndex)
 {
 	m_hShapeIds[objIndex].x = m_firstFreeShapeBufferOffset;
 	m_hShapeIds[objIndex].y  = numSpheres;
 	return;
-} // btGpuDemoDynamicsWorld::addMultiShereObject()
+} 
 
-//--------------------------------------------------------------------------
-//--------------------------------------------------------------------------
-//--------------------------------------------------------------------------
 

Demos/Gpu2dDemo/btGpuDemoDynamicsWorld.h

@@ -13,12 +13,12 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-//----------------------------------------------------------------------------------------
+
 
 #ifndef BT_CUDA_DEMO_DYNAMICS_WORLD_H
 #define BT_CUDA_DEMO_DYNAMICS_WORLD_H
 
-//----------------------------------------------------------------------------------------
+
 
 #include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
 #include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
@@ -46,15 +46,9 @@ subject to the following restrictions:
 #undef BT_GPU_PREF
 
 
-//----------------------------------------------------------------------------------------
-
-
-
-//----------------------------------------------------------------------------------------
-
 #include "btGpuDemo2dSharedTypes.h"
 
-//----------------------------------------------------------------------------------------
+
 
 #define CUDA_DEMO_DYNAMICS_WORLD_MAX_BATCHES 20
 
@@ -130,10 +124,10 @@ protected:
 	btVector3				m_worldMin;
 	btVector3				m_worldMax;
 	
-	//-------------------------------
+	
 	int*					m_hConstraintUsed;
 
-	//-------------------------------
+	
 	// shape buffer
 	int						m_maxShapeBufferSize;
 	int						m_firstFreeShapeBufferOffset;
@@ -146,7 +140,7 @@ protected:
 	void					freeShapeBuffer();
 	void					sendShapeDataToGpu();
 
-	//-------------------------------
+	
 	int						m_numNonContactConstraints;
 	void					grabNonContactConstraintData();
 	void					grabP2PConstraintData(btPoint2PointConstraint* ct);

Demos/Gpu2dDemo/btGpuDemoPairCache.cpp

@@ -13,7 +13,7 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-//--------------------------------------------------------------------------
+
 
 #include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
 
@@ -21,7 +21,7 @@ subject to the following restrictions:
 
 #include "btGpuDemoDynamicsWorld.h"
 
-//--------------------------------------------------------------------------
+
 
 void btGpuDemoPairCache::processAllOverlappingPairs(btOverlapCallback* callback, btDispatcher* dispatcher)
 {
@@ -41,9 +41,9 @@ void btGpuDemoPairCache::processAllOverlappingPairs(btOverlapCallback* callback,
 		}
 	}
 	gpCudaDemoDynamicsWorld->setTotalNumConstraints(numContConstraints);	
-} // btGpuDemoPairCache::processAllOverlappingPairs()
+} 
+
 
-//--------------------------------------------------------------------------
 
 // this will be called for each overlapping pair if collision detection uses pairCache other than btGpuDemoPairCache
 // IMPORTANT : m_numConstraints in gpCudaDemoDynamicsWorld is set to 0 at start of simulation step
@@ -74,6 +74,3 @@ void cudaDemoNearCallback(btBroadphasePair& collisionPair, btCollisionDispatcher
 	}
 } // cudaDemoNearCallback()
 
-//--------------------------------------------------------------------------
-//--------------------------------------------------------------------------
-//--------------------------------------------------------------------------