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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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114
src/BulletMultiThreaded/btGpu3DGridBroadphase.cpp
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@@ -13,13 +13,13 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
//--------------------------------------------------------------------------
#include "LinearMath/btAlignedAllocator.h"
#include "LinearMath/btQuickprof.h"
#include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h"
//--------------------------------------------------------------------------
#include "btGpuDefines.h"
#include "btGpuUtilsSharedDefs.h"
@@ -28,15 +28,15 @@ subject to the following restrictions:
#include "btGpu3DGridBroadphase.h"
#include <string.h> //for memset
//--------------------------------------------------------------------------
#include <stdio.h>
//--------------------------------------------------------------------------
static bt3DGridBroadphaseParams s3DGridBroadphaseParams;
//--------------------------------------------------------------------------
btGpu3DGridBroadphase::btGpu3DGridBroadphase( const btVector3& worldAabbMin,const btVector3& worldAabbMax,
int gridSizeX, int gridSizeY, int gridSizeZ,
@@ -52,9 +52,9 @@ btGpu3DGridBroadphase::btGpu3DGridBroadphase( const btVector3& worldAabbMin,cons
_initialize(worldAabbMin, worldAabbMax, gridSizeX, gridSizeY, gridSizeZ,
maxSmallProxies, maxLargeProxies, maxPairsPerBody,
maxBodiesPerCell, cellFactorAABB);
} // btGpu3DGridBroadphase::btGpu3DGridBroadphase()
}
//--------------------------------------------------------------------------
btGpu3DGridBroadphase::btGpu3DGridBroadphase( btOverlappingPairCache* overlappingPairCache,
const btVector3& worldAabbMin,const btVector3& worldAabbMax,
@@ -69,18 +69,18 @@ btGpu3DGridBroadphase::btGpu3DGridBroadphase( btOverlappingPairCache* overlappin
_initialize(worldAabbMin, worldAabbMax, gridSizeX, gridSizeY, gridSizeZ,
maxSmallProxies, maxLargeProxies, maxPairsPerBody,
maxBodiesPerCell, cellFactorAABB);
} // btGpu3DGridBroadphase::btGpu3DGridBroadphase()
}
//--------------------------------------------------------------------------
btGpu3DGridBroadphase::~btGpu3DGridBroadphase()
{
//btSimpleBroadphase will free memory of btSortedOverlappingPairCache, because m_ownsPairCache
assert(m_bInitialized);
_finalize();
} // btGpu3DGridBroadphase::~btGpu3DGridBroadphase()
}
//--------------------------------------------------------------------------
void btGpu3DGridBroadphase::_initialize( const btVector3& worldAabbMin,const btVector3& worldAabbMax,
int gridSizeX, int gridSizeY, int gridSizeZ,
@@ -164,9 +164,9 @@ void btGpu3DGridBroadphase::_initialize( const btVector3& worldAabbMin,const btV
m_numOverflows = 0;
m_bInitialized = true;
} // btGpu3DGridBroadphase::_initialize()
}
//--------------------------------------------------------------------------
void btGpu3DGridBroadphase::_finalize()
{
@@ -180,9 +180,9 @@ void btGpu3DGridBroadphase::_finalize()
delete [] m_hPairOut;
btAlignedFree(m_pLargeHandlesRawPtr);
m_bInitialized = false;
} // btGpu3DGridBroadphase::_finalize()
}
//--------------------------------------------------------------------------
void btGpu3DGridBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher)
{
@@ -214,9 +214,9 @@ void btGpu3DGridBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher)
// find and add large/large pairs to CPU cache
addLarge2LargePairsToCache(dispatcher);
return;
} // btGpu3DGridBroadphase::calculateOverlappingPairs()
}
//--------------------------------------------------------------------------
void btGpu3DGridBroadphase::addPairsToCache(btDispatcher* dispatcher)
{
@@ -259,9 +259,9 @@ void btGpu3DGridBroadphase::addPairsToCache(btDispatcher* dispatcher)
}
}
}
} // btGpu3DGridBroadphase::addPairsToCache()
}
//--------------------------------------------------------------------------
btBroadphaseProxy* btGpu3DGridBroadphase::createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr ,short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher,void* multiSapProxy)
{
@@ -284,9 +284,9 @@ btBroadphaseProxy* btGpu3DGridBroadphase::createProxy( const btVector3& aabbMin
proxy = btSimpleBroadphase::createProxy(aabbMin, aabbMax, shapeType, userPtr, collisionFilterGroup, collisionFilterMask, dispatcher, multiSapProxy);
}
return proxy;
} // btGpu3DGridBroadphase::createProxy()
}
//--------------------------------------------------------------------------
void btGpu3DGridBroadphase::destroyProxy(btBroadphaseProxy* proxy, btDispatcher* dispatcher)
{
@@ -303,9 +303,9 @@ void btGpu3DGridBroadphase::destroyProxy(btBroadphaseProxy* proxy, btDispatcher*
btSimpleBroadphase::destroyProxy(proxy, dispatcher);
}
return;
} // btGpu3DGridBroadphase::destroyProxy()
}
//--------------------------------------------------------------------------
void btGpu3DGridBroadphase::resetPool(btDispatcher* dispatcher)
{
@@ -316,9 +316,9 @@ void btGpu3DGridBroadphase::resetPool(btDispatcher* dispatcher)
m_hPairBuffStartCurr[i * 2] = m_hPairBuffStartCurr[(i-1) * 2] + m_maxPairsPerBody;
m_hPairBuffStartCurr[i * 2 + 1] = 0;
}
} // btGpu3DGridBroadphase::resetPool()
}
//--------------------------------------------------------------------------
bool btGpu3DGridBroadphase::isLargeProxy(const btVector3& aabbMin, const btVector3& aabbMax)
{
@@ -329,16 +329,16 @@ bool btGpu3DGridBroadphase::isLargeProxy(const btVector3& aabbMin, const btVect
radius *= m_cellFactorAABB; // user-defined factor
return (radius > m_maxRadius);
} // btGpu3DGridBroadphase::isLargeProxy()
}
//--------------------------------------------------------------------------
bool btGpu3DGridBroadphase::isLargeProxy(btBroadphaseProxy* proxy)
{
return (proxy->getUid() >= (m_maxHandles+2));
} // btGpu3DGridBroadphase::isLargeProxy()
}
//--------------------------------------------------------------------------
void btGpu3DGridBroadphase::addLarge2LargePairsToCache(btDispatcher* dispatcher)
{
@@ -384,9 +384,9 @@ void btGpu3DGridBroadphase::addLarge2LargePairsToCache(btDispatcher* dispatcher)
}
m_LastLargeHandleIndex = new_largest_index;
return;
} // btGpu3DGridBroadphase::addLarge2LargePairsToCache()
}
//--------------------------------------------------------------------------
void btGpu3DGridBroadphase::rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback)
{
@@ -400,15 +400,15 @@ void btGpu3DGridBroadphase::rayTest(const btVector3& rayFrom,const btVector3& ra
}
rayCallback.process(proxy);
}
} // btGpu3DGridBroadphase::rayTest()
}
//--------------------------------------------------------------------------
//--------------------------------------------------------------------------
//
// overrides for CPU version
//
//--------------------------------------------------------------------------
//--------------------------------------------------------------------------
void btGpu3DGridBroadphase::prepareAABB()
{
@@ -465,26 +465,26 @@ void btGpu3DGridBroadphase::prepareAABB()
btAssert(num_small == m_numHandles);
btAssert(num_large == m_numLargeHandles);
return;
} // btGpu3DGridBroadphase::prepareAABB()
}
//--------------------------------------------------------------------------
void btGpu3DGridBroadphase::setParameters(bt3DGridBroadphaseParams* hostParams)
{
s3DGridBroadphaseParams = *hostParams;
return;
} // btGpu3DGridBroadphase::setParameters()
}
//--------------------------------------------------------------------------
void btGpu3DGridBroadphase::calcHashAABB()
{
BT_PROFILE("bt3DGrid_calcHashAABB");
btGpu_calcHashAABB(m_hAABB, m_hBodiesHash, m_numHandles);
return;
} // btGpu3DGridBroadphase::calcHashAABB()
}
//--------------------------------------------------------------------------
void btGpu3DGridBroadphase::sortHash()
{
@@ -517,45 +517,45 @@ void btGpu3DGridBroadphase::sortHash()
bt3DGridHashKey* pHash = (bt3DGridHashKey*)m_hBodiesHash;
pHash->quickSort(pHash, 0, m_numHandles - 1);
return;
} // btGpu3DGridBroadphase::sortHash()
}
//--------------------------------------------------------------------------
void btGpu3DGridBroadphase::findCellStart()
{
BT_PROFILE("bt3DGrid_findCellStart");
btGpu_findCellStart(m_hBodiesHash, m_hCellStart, m_numHandles, m_params.m_numCells);
return;
} // btGpu3DGridBroadphase::findCellStart()
}
//--------------------------------------------------------------------------
void btGpu3DGridBroadphase::findOverlappingPairs()
{
BT_PROFILE("bt3DGrid_findOverlappingPairs");
btGpu_findOverlappingPairs(m_hAABB, m_hBodiesHash, m_hCellStart, m_hPairBuff, m_hPairBuffStartCurr, m_numHandles);
return;
} // btGpu3DGridBroadphase::findOverlappingPairs()
}
//--------------------------------------------------------------------------
void btGpu3DGridBroadphase::findPairsLarge()
{
BT_PROFILE("bt3DGrid_findPairsLarge");
btGpu_findPairsLarge(m_hAABB, m_hBodiesHash, m_hCellStart, m_hPairBuff, m_hPairBuffStartCurr, m_numHandles, m_numLargeHandles);
return;
} // btGpu3DGridBroadphase::findPairsLarge()
}
//--------------------------------------------------------------------------
void btGpu3DGridBroadphase::computePairCacheChanges()
{
BT_PROFILE("bt3DGrid_computePairCacheChanges");
btGpu_computePairCacheChanges(m_hPairBuff, m_hPairBuffStartCurr, m_hPairScan, m_hAABB, m_numHandles);
return;
} // btGpu3DGridBroadphase::computePairCacheChanges()
}
//--------------------------------------------------------------------------
void btGpu3DGridBroadphase::scanOverlappingPairBuff()
{
@@ -567,19 +567,19 @@ void btGpu3DGridBroadphase::scanOverlappingPairBuff()
m_hPairScan[i] = m_hPairScan[i-1] + delta;
}
return;
} // btGpu3DGridBroadphase::scanOverlappingPairBuff()
}
//--------------------------------------------------------------------------
void btGpu3DGridBroadphase::squeezeOverlappingPairBuff()
{
BT_PROFILE("bt3DGrid_squeezeOverlappingPairBuff");
btGpu_squeezeOverlappingPairBuff(m_hPairBuff, m_hPairBuffStartCurr, m_hPairScan, m_hPairOut, m_hAABB, m_numHandles);
return;
} // btGpu3DGridBroadphase::squeezeOverlappingPairBuff()
}
//--------------------------------------------------------------------------
#include "btGpu3DGridBroadphaseSharedCode.h"
//--------------------------------------------------------------------------