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added parallel solver (work in progress) and made modifications to demo/constraints to allow for getting the type without using virtual functions (needed on CELL SPU processors)

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This commit is contained in:
ejcoumans
2007-08-12 17:27:33 +00:00
parent 37e2b3db0a
commit ec22825e65
22 changed files with 1878 additions and 1018 deletions
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11
src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp
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@@ -21,14 +21,15 @@ subject to the following restrictions:
#include <new>
btHingeConstraint::btHingeConstraint():
btHingeConstraint::btHingeConstraint()
: btTypedConstraint (HINGE_CONSTRAINT_TYPE),
m_enableAngularMotor(false)
{
}
btHingeConstraint::btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB,
btVector3& axisInA,btVector3& axisInB)
:btTypedConstraint(rbA,rbB),
:btTypedConstraint(HINGE_CONSTRAINT_TYPE, rbA,rbB),
m_angularOnly(false),
m_enableAngularMotor(false)
{
@@ -70,7 +71,7 @@ btHingeConstraint::btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const bt
btHingeConstraint::btHingeConstraint(btRigidBody& rbA,const btVector3& pivotInA,btVector3& axisInA)
:btTypedConstraint(rbA), m_angularOnly(false), m_enableAngularMotor(false)
:btTypedConstraint(HINGE_CONSTRAINT_TYPE, rbA), m_angularOnly(false), m_enableAngularMotor(false)
{
// since no frame is given, assume this to be zero angle and just pick rb transform axis
@@ -113,7 +114,7 @@ btHingeConstraint::btHingeConstraint(btRigidBody& rbA,const btVector3& pivotInA,
btHingeConstraint::btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB,
const btTransform& rbAFrame, const btTransform& rbBFrame)
:btTypedConstraint(rbA,rbB),m_rbAFrame(rbAFrame),m_rbBFrame(rbBFrame),
:btTypedConstraint(HINGE_CONSTRAINT_TYPE, rbA,rbB),m_rbAFrame(rbAFrame),m_rbBFrame(rbBFrame),
m_angularOnly(false),
m_enableAngularMotor(false)
{
@@ -134,7 +135,7 @@ m_enableAngularMotor(false)
btHingeConstraint::btHingeConstraint(btRigidBody& rbA, const btTransform& rbAFrame)
:btTypedConstraint(rbA),m_rbAFrame(rbAFrame),m_rbBFrame(rbAFrame),
:btTypedConstraint(HINGE_CONSTRAINT_TYPE, rbA),m_rbAFrame(rbAFrame),m_rbBFrame(rbAFrame),
m_angularOnly(false),
m_enableAngularMotor(false)
{