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3 new constraints added : btGeneric6DofSpringConstraint, btUniversalConstraint, btHinge2Constraint

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Motors for btConeTwistConstraint added (for obsolete solver only)
appConstraintDemo changed to test new constraints
Several coding-style fixes
This commit is contained in:
rponom
2009-05-21 22:10:13 +00:00
parent 8d9c445b73
commit c680791ce9
38 changed files with 989 additions and 412 deletions
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78
Demos/Gpu2dDemo/btGpuDemoDynamicsWorld.cpp
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@@ -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()
}
//--------------------------------------------------------------------------
//--------------------------------------------------------------------------
//--------------------------------------------------------------------------