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more bt* to b3*

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This commit is contained in:
erwin coumans
2013-04-16 17:08:59 -07:00
parent faabffc23d
commit e646754228
116 changed files with 2466 additions and 3034 deletions
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30
opencl/gpu_rigidbody/host/b3GpuRigidBodyPipeline.cpp
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@@ -20,7 +20,7 @@
#include "b3GpuBatchingPgsSolver.h"
#include "b3Solver.h"
#include "BulletCommon/btQuickprof.h"
#include "BulletCommon/b3Quickprof.h"
#include "b3Config.h"
b3GpuRigidBodyPipeline::b3GpuRigidBodyPipeline(cl_context ctx,cl_device_id device, cl_command_queue q,class b3GpuNarrowPhase* narrowphase, class b3GpuSapBroadphase* broadphaseSap )
@@ -133,9 +133,9 @@ void b3GpuRigidBodyPipeline::stepSimulation(float deltaTime)
bool forceHost = false;
if (forceHost)
{
btAlignedObjectArray<b3RigidBodyCL> hostBodies;
btAlignedObjectArray<btInertiaCL> hostInertias;
btAlignedObjectArray<b3Contact4> hostContacts;
b3AlignedObjectArray<b3RigidBodyCL> hostBodies;
b3AlignedObjectArray<btInertiaCL> hostInertias;
b3AlignedObjectArray<b3Contact4> hostContacts;
{
BT_PROFILE("copyToHost");
@@ -161,11 +161,11 @@ void b3GpuRigidBodyPipeline::stepSimulation(float deltaTime)
}
} else
{
btAlignedObjectArray<b3RigidBodyCL> hostBodies;
b3AlignedObjectArray<b3RigidBodyCL> hostBodies;
gpuBodies.copyToHost(hostBodies);
btAlignedObjectArray<btInertiaCL> hostInertias;
b3AlignedObjectArray<btInertiaCL> hostInertias;
gpuInertias.copyToHost(hostInertias);
btAlignedObjectArray<b3Contact4> hostContacts;
b3AlignedObjectArray<b3Contact4> hostContacts;
gpuContacts.copyToHost(hostContacts);
{
m_data->m_solver->solveContacts(m_data->m_narrowphase->getNumBodiesGpu(),&hostBodies[0],&hostInertias[0],numContacts,&hostContacts[0]);
@@ -207,7 +207,7 @@ void b3GpuRigidBodyPipeline::integrate(float timeStep)
float angularDamp = 0.99f;
launcher.setConst(angularDamp);
btVector3 gravity(0.f,-9.8f,0.f);
b3Vector3 gravity(0.f,-9.8f,0.f);
launcher.setConst(gravity);
launcher.launch1D(numBodies);
@@ -256,18 +256,18 @@ int b3GpuRigidBodyPipeline::getNumBodies() const
int b3GpuRigidBodyPipeline::registerPhysicsInstance(float mass, const float* position, const float* orientation, int collidableIndex, int userIndex)
{
btVector3 aabbMin(0,0,0),aabbMax(0,0,0);
b3Vector3 aabbMin(0,0,0),aabbMax(0,0,0);
if (collidableIndex>=0)
{
b3SapAabb localAabb = m_data->m_narrowphase->getLocalSpaceAabb(collidableIndex);
btVector3 localAabbMin(localAabb.m_min[0],localAabb.m_min[1],localAabb.m_min[2]);
btVector3 localAabbMax(localAabb.m_max[0],localAabb.m_max[1],localAabb.m_max[2]);
b3Vector3 localAabbMin(localAabb.m_min[0],localAabb.m_min[1],localAabb.m_min[2]);
b3Vector3 localAabbMax(localAabb.m_max[0],localAabb.m_max[1],localAabb.m_max[2]);
btScalar margin = 0.01f;
btTransform t;
b3Scalar margin = 0.01f;
b3Transform t;
t.setIdentity();
t.setOrigin(btVector3(position[0],position[1],position[2]));
t.setRotation(btQuaternion(orientation[0],orientation[1],orientation[2],orientation[3]));
t.setOrigin(b3Vector3(position[0],position[1],position[2]));
t.setRotation(b3Quaternion(orientation[0],orientation[1],orientation[2],orientation[3]));
btTransformAabb(localAabbMin,localAabbMax, margin,t,aabbMin,aabbMax);
if (mass)
{