Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Several changes to sync Bullet trunk with PlayStation 3 spubullet version

Browse Source 
Still needs some cross-platform fixes
This commit is contained in:
erwin.coumans
2010-07-08 17:02:38 +00:00
parent 76a58e1f4e
commit fbc17731ec
63 changed files with 10363 additions and 522 deletions
Download Patch File Download Diff File Expand all files Collapse all files

29
src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h
View File

@@ -48,7 +48,10 @@ enum btContactManifoldTypes
///reduces the cache to 4 points, when more then 4 points are added, using following rules:
///the contact point with deepest penetration is always kept, and it tries to maximuze the area covered by the points
///note that some pairs of objects might have more then one contact manifold.
ATTRIBUTE_ALIGNED16( class) btPersistentManifold : public btTypedObject
ATTRIBUTE_ALIGNED128( class) btPersistentManifold : public btTypedObject
//ATTRIBUTE_ALIGNED16( class) btPersistentManifold : public btTypedObject
{
btManifoldPoint m_pointCache[MANIFOLD_CACHE_SIZE];
@@ -57,6 +60,7 @@ ATTRIBUTE_ALIGNED16( class) btPersistentManifold : public btTypedObject
/// void* will allow any rigidbody class
void* m_body0;
void* m_body1;
int m_cachedPoints;
btScalar m_contactBreakingThreshold;
@@ -72,6 +76,9 @@ public:
BT_DECLARE_ALIGNED_ALLOCATOR();
int m_companionIdA;
int m_companionIdB;
int m_index1a;
btPersistentManifold();
@@ -139,6 +146,10 @@ public:
m_pointCache[index] = m_pointCache[lastUsedIndex];
//get rid of duplicated userPersistentData pointer
m_pointCache[lastUsedIndex].m_userPersistentData = 0;
m_pointCache[lastUsedIndex].mConstraintRow[0].mAccumImpulse = 0.f;
m_pointCache[lastUsedIndex].mConstraintRow[1].mAccumImpulse = 0.f;
m_pointCache[lastUsedIndex].mConstraintRow[2].mAccumImpulse = 0.f;
m_pointCache[lastUsedIndex].m_appliedImpulse = 0.f;
m_pointCache[lastUsedIndex].m_lateralFrictionInitialized = false;
m_pointCache[lastUsedIndex].m_appliedImpulseLateral1 = 0.f;
@@ -156,10 +167,13 @@ public:
#define MAINTAIN_PERSISTENCY 1
#ifdef MAINTAIN_PERSISTENCY
int lifeTime = m_pointCache[insertIndex].getLifeTime();
btScalar appliedImpulse = m_pointCache[insertIndex].m_appliedImpulse;
btScalar appliedLateralImpulse1 = m_pointCache[insertIndex].m_appliedImpulseLateral1;
btScalar appliedLateralImpulse2 = m_pointCache[insertIndex].m_appliedImpulseLateral2;
btScalar appliedImpulse = m_pointCache[insertIndex].mConstraintRow[0].mAccumImpulse;
btScalar appliedLateralImpulse1 = m_pointCache[insertIndex].mConstraintRow[1].mAccumImpulse;
btScalar appliedLateralImpulse2 = m_pointCache[insertIndex].mConstraintRow[2].mAccumImpulse;
bool isLateralFrictionInitialized = m_pointCache[insertIndex].m_lateralFrictionInitialized;
btAssert(lifeTime>=0);
void* cache = m_pointCache[insertIndex].m_userPersistentData;
@@ -170,6 +184,11 @@ public:
m_pointCache[insertIndex].m_appliedImpulseLateral1 = appliedLateralImpulse1;
m_pointCache[insertIndex].m_appliedImpulseLateral2 = appliedLateralImpulse2;
m_pointCache[insertIndex].mConstraintRow[0].mAccumImpulse = appliedImpulse;
m_pointCache[insertIndex].mConstraintRow[1].mAccumImpulse = appliedLateralImpulse1;
m_pointCache[insertIndex].mConstraintRow[2].mAccumImpulse = appliedLateralImpulse2;
m_pointCache[insertIndex].m_lifeTime = lifeTime;
#else
clearUserCache(m_pointCache[insertIndex]);