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remove dependency on Adl math stuff

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This commit is contained in:
erwin coumans
2013-03-17 01:37:25 -07:00
parent d3c80fe160
commit fc5e2ad5ba
5 changed files with 81 additions and 129 deletions
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40
opencl/gpu_rigidbody/host/Solver.h
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@@ -19,24 +19,8 @@ subject to the following restrictions:
#include "../../parallel_primitives/host/btOpenCLArray.h"
#include "../host/btGpuConstraint4.h"
//#include <AdlPhysics/TypeDefinition.h>
//#include "AdlRigidBody.h"
#include "../../gpu_sat/host/btRigidBodyCL.h"
#include "../../gpu_sat/host/btContact4.h"
#include "../Stubs/AdlMath.h"
#include "../Stubs/AdlMatrix3x3.h"
//#include "AdlPhysics/Batching/Batching.h>
#define MYF4 float4
#define MAKE_MYF4 make_float4
//#define MYF4 float4sse
//#define MAKE_MYF4 make_float4sse
#include "../host/btGpuConstraint4.h"
#include "../../parallel_primitives/host/btPrefixScanCL.h"
@@ -46,6 +30,7 @@ subject to the following restrictions:
#include "../../basic_initialize/btOpenCLUtils.h"
#define BTNEXTMULTIPLEOF(num, alignment) (((num)/(alignment) + (((num)%(alignment)==0)?0:1))*(alignment))
class SolverBase
{
@@ -56,9 +41,9 @@ class SolverBase
{
ConstraintData(): m_b(0.f), m_appliedRambdaDt(0.f) {}
float4 m_linear; // have to be normalized
float4 m_angular0;
float4 m_angular1;
btVector3 m_linear; // have to be normalized
btVector3 m_angular0;
btVector3 m_angular1;
float m_jacCoeffInv;
float m_b;
float m_appliedRambdaDt;
@@ -67,8 +52,8 @@ class SolverBase
unsigned int m_bodyBPtr;
bool isInvalid() const { return ((unsigned int)m_bodyAPtr+(unsigned int)m_bodyBPtr) == 0; }
float getFrictionCoeff() const { return m_linear.w; }
void setFrictionCoeff(float coeff) { m_linear.w = coeff; }
float getFrictionCoeff() const { return m_linear[3]; }
void setFrictionCoeff(float coeff) { m_linear[3] = coeff; }
};
struct ConstraintCfg
@@ -135,12 +120,6 @@ class Solver : public SolverBase
virtual ~Solver();
/* void reorderConvertToConstraints( const btOpenCLArray<btRigidBodyCL>* bodyBuf,
const btOpenCLArray<btInertiaCL>* shapeBuf,
btOpenCLArray<btContact4>* contactsIn, btOpenCLArray<btGpuConstraint4>* contactCOut, void* additionalData,
int nContacts, const ConstraintCfg& cfg );
*/
void solveContactConstraint( const btOpenCLArray<btRigidBodyCL>* bodyBuf, const btOpenCLArray<btInertiaCL>* inertiaBuf,
btOpenCLArray<btGpuConstraint4>* constraint, void* additionalData, int n ,int maxNumBatches);
@@ -153,16 +132,11 @@ class Solver : public SolverBase
btOpenCLArray<btContact4>* contactsIn, btOpenCLArray<btGpuConstraint4>* contactCOut, void* additionalData,
int nContacts, const ConstraintCfg& cfg );
/* void sortContacts( const btOpenCLArray<btRigidBodyCL>* bodyBuf,
btOpenCLArray<btContact4>* contactsIn, void* additionalData,
int nContacts, const ConstraintCfg& cfg );
*/
void batchContacts( btOpenCLArray<btContact4>* contacts, int nContacts, btOpenCLArray<unsigned int>* n, btOpenCLArray<unsigned int>* offsets, int staticIdx );
};
#undef MYF4
#undef MAKE_MYF4
#endif //__ADL_SOLVER_H