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Removed empty constructors for constraints, I don't recall why we added them (possibly SPU) but if we really need them we have to revert this.

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Moved static fixed body into a static function 'getFixedBody' to avoid issues when embedding Bullet in C#/CLI managed code.
This commit is contained in:
erwin.coumans 2010-02-03 23:02:33 +00:00
parent d58081ce37
commit 1cd52f3d11
14 changed files with 19 additions and 71 deletions
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5
src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp
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@ -36,11 +36,6 @@ SIMD_FORCE_INLINE btScalar computeAngularImpulseDenominator(const btVector3& axi
}
btConeTwistConstraint::btConeTwistConstraint()
:btTypedConstraint(CONETWIST_CONSTRAINT_TYPE),
m_useSolveConstraintObsolete(CONETWIST_USE_OBSOLETE_SOLVER)
{
}
btConeTwistConstraint::btConeTwistConstraint(btRigidBody& rbA,btRigidBody& rbB,

2
src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h
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@ -130,8 +130,6 @@ public:
btConeTwistConstraint(btRigidBody& rbA,const btTransform& rbAFrame);
btConeTwistConstraint();
virtual void buildJacobian();
virtual void getInfo1 (btConstraintInfo1* info);

5
src/BulletDynamics/ConstraintSolver/btContactConstraint.cpp
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@ -22,10 +22,7 @@ subject to the following restrictions:
#include "LinearMath/btMinMax.h"
#include "BulletCollision/NarrowPhaseCollision/btManifoldPoint.h"
btContactConstraint::btContactConstraint()
:btTypedConstraint(CONTACT_CONSTRAINT_TYPE)
{
}
btContactConstraint::btContactConstraint(btPersistentManifold* contactManifold,btRigidBody& rbA,btRigidBody& rbB)
:btTypedConstraint(CONTACT_CONSTRAINT_TYPE,rbA,rbB),

1
src/BulletDynamics/ConstraintSolver/btContactConstraint.h
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@ -30,7 +30,6 @@ protected:
public:
btContactConstraint();
btContactConstraint(btPersistentManifold* contactManifold,btRigidBody& rbA,btRigidBody& rbB);

13
src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
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@ -31,14 +31,7 @@ http://gimpact.sf.net
#define D6_USE_FRAME_OFFSET true
btGeneric6DofConstraint::btGeneric6DofConstraint()
:btTypedConstraint(D6_CONSTRAINT_TYPE),
m_useLinearReferenceFrameA(true),
m_useOffsetForConstraintFrame(D6_USE_FRAME_OFFSET),
m_flags(0),
m_useSolveConstraintObsolete(D6_USE_OBSOLETE_METHOD)
{
}
@ -55,9 +48,9 @@ m_useSolveConstraintObsolete(D6_USE_OBSOLETE_METHOD)
}
static btRigidBody s_fixed(0, 0, 0);
btGeneric6DofConstraint::btGeneric6DofConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameB)
: btTypedConstraint(D6_CONSTRAINT_TYPE, s_fixed, rbB),
: btTypedConstraint(D6_CONSTRAINT_TYPE, getFixedBody(), rbB),
m_frameInB(frameInB),
m_useLinearReferenceFrameA(useLinearReferenceFrameB),
m_flags(0),

3
src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h
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@ -351,8 +351,7 @@ public:
btGeneric6DofConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA);
btGeneric6DofConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameB);
btGeneric6DofConstraint();
//! Calcs global transform of the offsets
/*!
Calcs the global transform for the joint offset for body A an B, and also calcs the agle differences between the bodies.

11
src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp
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@ -30,16 +30,7 @@ subject to the following restrictions:
#ifndef __SPU__
btHingeConstraint::btHingeConstraint()
: btTypedConstraint (HINGE_CONSTRAINT_TYPE),
m_enableAngularMotor(false),
m_useSolveConstraintObsolete(HINGE_USE_OBSOLETE_SOLVER),
m_useOffsetForConstraintFrame(HINGE_USE_FRAME_OFFSET),
m_flags(0),
m_useReferenceFrameA(false)
{
m_referenceSign = m_useReferenceFrameA ? btScalar(-1.f) : btScalar(1.f);
}

1
src/BulletDynamics/ConstraintSolver/btHingeConstraint.h
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@ -98,7 +98,6 @@ public:
btHingeConstraint(btRigidBody& rbA,const btTransform& rbAFrame, bool useReferenceFrameA = false);
btHingeConstraint();
virtual void buildJacobian();

7
src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp
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@ -20,12 +20,7 @@ subject to the following restrictions:
btPoint2PointConstraint::btPoint2PointConstraint()
:btTypedConstraint(POINT2POINT_CONSTRAINT_TYPE),
m_flags(0),
m_useSolveConstraintObsolete(false)
{
}
btPoint2PointConstraint::btPoint2PointConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB)
:btTypedConstraint(POINT2POINT_CONSTRAINT_TYPE,rbA,rbB),m_pivotInA(pivotInA),m_pivotInB(pivotInB),

1
src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h
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@ -76,7 +76,6 @@ public:
btPoint2PointConstraint(btRigidBody& rbA,const btVector3& pivotInA);
btPoint2PointConstraint();
virtual void buildJacobian();

12
src/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp
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@ -76,14 +76,6 @@ void btSliderConstraint::initParams()
btSliderConstraint::btSliderConstraint()
:btTypedConstraint(SLIDER_CONSTRAINT_TYPE),
m_useSolveConstraintObsolete(false),
m_useLinearReferenceFrameA(true)
{
initParams();
}
btSliderConstraint::btSliderConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB, bool useLinearReferenceFrameA)
@ -96,9 +88,9 @@ btSliderConstraint::btSliderConstraint(btRigidBody& rbA, btRigidBody& rbB, const
}
static btRigidBody s_fixed(0, 0, 0);
btSliderConstraint::btSliderConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameB)
: btTypedConstraint(SLIDER_CONSTRAINT_TYPE, s_fixed, rbB),
: btTypedConstraint(SLIDER_CONSTRAINT_TYPE, getFixedBody(), rbB),
m_useSolveConstraintObsolete(false),
m_frameInB(frameInB),
m_useLinearReferenceFrameA(useLinearReferenceFrameB)

2
src/BulletDynamics/ConstraintSolver/btSliderConstraint.h
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@ -158,7 +158,7 @@ public:
// constructors
btSliderConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA);
btSliderConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameB);
btSliderConstraint();
// overrides
virtual void buildJacobian();
virtual void getInfo1 (btConstraintInfo1* info);

19
src/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp
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@ -17,33 +17,20 @@ subject to the following restrictions:
#include "btTypedConstraint.h"
#include "BulletDynamics/Dynamics/btRigidBody.h"
static btRigidBody s_fixed(0, 0,0);
#define DEFAULT_DEBUGDRAW_SIZE btScalar(0.3f)
btTypedConstraint::btTypedConstraint(btTypedConstraintType type)
:btTypedObject(type),
m_userConstraintType(-1),
m_userConstraintId(-1),
m_needsFeedback(false),
m_rbA(s_fixed),
m_rbB(s_fixed),
m_appliedImpulse(btScalar(0.)),
m_dbgDrawSize(DEFAULT_DEBUGDRAW_SIZE)
{
s_fixed.setMassProps(btScalar(0.),btVector3(btScalar(0.),btScalar(0.),btScalar(0.)));
}
btTypedConstraint::btTypedConstraint(btTypedConstraintType type, btRigidBody& rbA)
:btTypedObject(type),
m_userConstraintType(-1),
m_userConstraintId(-1),
m_needsFeedback(false),
m_rbA(rbA),
m_rbB(s_fixed),
m_rbB(getFixedBody()),
m_appliedImpulse(btScalar(0.)),
m_dbgDrawSize(DEFAULT_DEBUGDRAW_SIZE)
{
s_fixed.setMassProps(btScalar(0.),btVector3(btScalar(0.),btScalar(0.),btScalar(0.)));
}
@ -57,8 +44,6 @@ m_rbB(rbB),
m_appliedImpulse(btScalar(0.)),
m_dbgDrawSize(DEFAULT_DEBUGDRAW_SIZE)
{
s_fixed.setMassProps(btScalar(0.),btVector3(btScalar(0.),btScalar(0.),btScalar(0.)));
}

8
src/BulletDynamics/ConstraintSolver/btTypedConstraint.h
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@ -72,10 +72,16 @@ protected:
///internal method used by the constraint solver, don't use them directly
btScalar getMotorFactor(btScalar pos, btScalar lowLim, btScalar uppLim, btScalar vel, btScalar timeFact);
static btRigidBody& getFixedBody()
{
static btRigidBody s_fixed(0, 0,0);
s_fixed.setMassProps(btScalar(0.),btVector3(btScalar(0.),btScalar(0.),btScalar(0.)));
return s_fixed;
}
public:
btTypedConstraint(btTypedConstraintType type);
virtual ~btTypedConstraint() {};
btTypedConstraint(btTypedConstraintType type, btRigidBody& rbA);
btTypedConstraint(btTypedConstraintType type, btRigidBody& rbA,btRigidBody& rbB);