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options to change solver type and mode

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Conflicts:
	examples/MultiThreadedDemo/CommonRigidBodyMTBase.h
This commit is contained in:
Lunkhound
2016-11-21 01:43:26 -08:00
parent fb51c3f7ed
commit da03d8ce5a
2 changed files with 177 additions and 8 deletions
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26
examples/MultiThreadedDemo/CommonRigidBodyMTBase.h
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@@ -11,6 +11,31 @@
#include "../CommonInterfaces/CommonGraphicsAppInterface.h"
#include "../CommonInterfaces/CommonWindowInterface.h"
enum SolverType
{
SOLVER_TYPE_SEQUENTIAL_IMPULSE,
SOLVER_TYPE_NNCG,
SOLVER_TYPE_MLCP_PGS,
SOLVER_TYPE_MLCP_DANTZIG,
SOLVER_TYPE_MLCP_LEMKE,
SOLVER_TYPE_COUNT
};
inline const char* getSolverTypeName( SolverType t )
{
switch (t)
{
case SOLVER_TYPE_SEQUENTIAL_IMPULSE: return "SequentialImpulse";
case SOLVER_TYPE_NNCG: return "NNCG";
case SOLVER_TYPE_MLCP_PGS: return "MLCP ProjectedGaussSeidel";
case SOLVER_TYPE_MLCP_DANTZIG: return "MLCP Dantzig";
case SOLVER_TYPE_MLCP_LEMKE: return "MLCP Lemke";
}
btAssert( !"unhandled solver type in switch" );
return "???";
}
struct CommonRigidBodyMTBase : public CommonExampleInterface
{
//keep the collision shapes, for deletion/cleanup
@@ -20,6 +45,7 @@ struct CommonRigidBodyMTBase : public CommonExampleInterface
btConstraintSolver* m_solver;
btDefaultCollisionConfiguration* m_collisionConfiguration;
btDiscreteDynamicsWorld* m_dynamicsWorld;
SolverType m_solverType;
bool m_multithreadedWorld;
bool m_multithreadCapable;