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share more data structures and code between OpenCL and C/C++ on CPU:

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move the setConstraint4/b3ConvertConstraint4 to shared code.
This commit is contained in:
erwin coumans
2013-11-07 12:46:01 -08:00
parent a9a758dd54
commit e20cb22832
16 changed files with 1249 additions and 908 deletions
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19
src/Bullet3OpenCL/RigidBody/b3GpuConstraint4.h
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@@ -3,24 +3,13 @@
#define B3_CONSTRAINT4_h
#include "Bullet3Common/b3Vector3.h"
B3_ATTRIBUTE_ALIGNED16(struct) b3GpuConstraint4
#include "Bullet3Dynamics/shared/b3ContactConstraint4.h"
B3_ATTRIBUTE_ALIGNED16(struct) b3GpuConstraint4 : public b3ContactConstraint4
{
B3_DECLARE_ALIGNED_ALLOCATOR();
b3Vector3 m_linear;//normal?
b3Vector3 m_worldPos[4];
b3Vector3 m_center; // friction
float m_jacCoeffInv[4];
float m_b[4];
float m_appliedRambdaDt[4];
float m_fJacCoeffInv[2]; // friction
float m_fAppliedRambdaDt[2]; // friction
unsigned int m_bodyA;
unsigned int m_bodyB;
int m_batchIdx;
unsigned int m_paddings;
inline void setFrictionCoeff(float value) { m_linear[3] = value; }
inline float getFrictionCoeff() const { return m_linear[3]; }
};