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Code Issues Releases Wiki Activity

Don't pass along unused btStackAlloc everywhere. The API change might user code (derived classes with the old virtual method are not called anymore)

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This commit is contained in:
erwin.coumans@gmail.com 2013-05-08 22:45:35 +00:00
parent 329b9a1e3c
commit 542c53fb30
29 changed files with 65 additions and 94 deletions
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23
Demos/OpenGL/DemoApplication.cpp
View File

@ -326,6 +326,25 @@ void DemoApplication::keyboardCallback(unsigned char key, int x, int y)
switch (key)
{
case 8:
{
int numObj = getDynamicsWorld()->getNumCollisionObjects();
if (numObj)
{
btCollisionObject* obj = getDynamicsWorld()->getCollisionObjectArray()[numObj-1];
getDynamicsWorld()->removeCollisionObject(obj);
btRigidBody* body = btRigidBody::upcast(obj);
if (body && body->getMotionState())
{
delete body->getMotionState();
}
delete obj;
}
break;
}
case 'q' :
#ifdef BT_USE_FREEGLUT
//return from glutMainLoop(), detect memory leaks etc.
@ -1182,8 +1201,8 @@ void DemoApplication::renderscene(int pass)
}
}
btVector3 aabbMin,aabbMax;
m_dynamicsWorld->getBroadphase()->getBroadphaseAabb(aabbMin,aabbMax);
btVector3 aabbMin(0,0,0),aabbMax(0,0,0);
//m_dynamicsWorld->getBroadphase()->getBroadphaseAabb(aabbMin,aabbMax);
aabbMin-=btVector3(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT);
aabbMax+=btVector3(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT);

5
Demos/OpenGL/DemoApplication.h
View File

@ -149,6 +149,11 @@ public:
{
m_azi = azi;
}
void setEle(float ele)
{
m_ele = ele;
}
void setCameraUp(const btVector3& camUp)
{

5
src/BulletCollision/BroadphaseCollision/btDispatcher.h
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@ -25,7 +25,6 @@ class btOverlappingPairCache;
struct btCollisionObjectWrapper;
class btPersistentManifold;
class btStackAlloc;
class btPoolAllocator;
struct btDispatcherInfo
@ -47,8 +46,7 @@ struct btDispatcherInfo
m_useEpa(true),
m_allowedCcdPenetration(btScalar(0.04)),
m_useConvexConservativeDistanceUtil(false),
m_convexConservativeDistanceThreshold(0.0f),
m_stackAllocator(0)
m_convexConservativeDistanceThreshold(0.0f)
{
}
@ -64,7 +62,6 @@ struct btDispatcherInfo
btScalar m_allowedCcdPenetration;
bool m_useConvexConservativeDistanceUtil;
btScalar m_convexConservativeDistanceThreshold;
btStackAlloc* m_stackAllocator;
};
///The btDispatcher interface class can be used in combination with broadphase to dispatch calculations for overlapping pairs.

2
src/BulletCollision/CollisionDispatch/btCollisionConfiguration.h
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@ -18,7 +18,6 @@ subject to the following restrictions:
struct btCollisionAlgorithmCreateFunc;
class btStackAlloc;
class btPoolAllocator;
///btCollisionConfiguration allows to configure Bullet collision detection
@ -38,7 +37,6 @@ public:
virtual btPoolAllocator* getCollisionAlgorithmPool() = 0;
virtual btStackAlloc* getStackAllocator() = 0;
virtual btCollisionAlgorithmCreateFunc* getCollisionAlgorithmCreateFunc(int proxyType0,int proxyType1) =0;

3
src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
View File

@ -31,7 +31,6 @@ subject to the following restrictions:
#include "BulletCollision/BroadphaseCollision/btDbvt.h"
#include "LinearMath/btAabbUtil2.h"
#include "LinearMath/btQuickprof.h"
#include "LinearMath/btStackAlloc.h"
#include "LinearMath/btSerializer.h"
#include "BulletCollision/CollisionShapes/btConvexPolyhedron.h"
#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
@ -73,8 +72,6 @@ m_broadphasePairCache(pairCache),
m_debugDrawer(0),
m_forceUpdateAllAabbs(true)
{
m_stackAlloc = collisionConfiguration->getStackAllocator();
m_dispatchInfo.m_stackAllocator = m_stackAlloc;
}

3
src/BulletCollision/CollisionDispatch/btCollisionWorld.h
View File

@ -65,7 +65,6 @@ subject to the following restrictions:
#ifndef BT_COLLISION_WORLD_H
#define BT_COLLISION_WORLD_H
class btStackAlloc;
class btCollisionShape;
class btConvexShape;
class btBroadphaseInterface;
@ -91,8 +90,6 @@ protected:
btDispatcherInfo m_dispatchInfo;
btStackAlloc* m_stackAlloc;
btBroadphaseInterface* m_broadphasePairCache;
btIDebugDraw* m_debugDrawer;

1
src/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.cpp
View File

@ -132,7 +132,6 @@ void btConvex2dConvex2dAlgorithm ::processCollision (const btCollisionObjectWrap
input.m_maximumDistanceSquared*= input.m_maximumDistanceSquared;
}
input.m_stackAlloc = dispatchInfo.m_stackAllocator;
input.m_transformA = body0Wrap->getWorldTransform();
input.m_transformB = body1Wrap->getWorldTransform();

1
src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp
View File

@ -373,7 +373,6 @@ void btConvexConvexAlgorithm ::processCollision (const btCollisionObjectWrapper*
input.m_maximumDistanceSquared*= input.m_maximumDistanceSquared;
}
input.m_stackAlloc = dispatchInfo.m_stackAllocator;
input.m_transformA = body0Wrap->getWorldTransform();
input.m_transformB = body1Wrap->getWorldTransform();

17
src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp
View File

@ -32,7 +32,6 @@ subject to the following restrictions:
#include "LinearMath/btStackAlloc.h"
#include "LinearMath/btPoolAllocator.h"
@ -106,16 +105,6 @@ btDefaultCollisionConfiguration::btDefaultCollisionConfiguration(const btDefault
collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize,maxSize2);
collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize,maxSize3);
if (constructionInfo.m_stackAlloc)
{
m_ownsStackAllocator = false;
this->m_stackAlloc = constructionInfo.m_stackAlloc;
} else
{
m_ownsStackAllocator = true;
void* mem = btAlignedAlloc(sizeof(btStackAlloc),16);
m_stackAlloc = new(mem)btStackAlloc(constructionInfo.m_defaultStackAllocatorSize);
}
if (constructionInfo.m_persistentManifoldPool)
{
@ -144,12 +133,6 @@ btDefaultCollisionConfiguration::btDefaultCollisionConfiguration(const btDefault
btDefaultCollisionConfiguration::~btDefaultCollisionConfiguration()
{
if (m_ownsStackAllocator)
{
m_stackAlloc->destroy();
m_stackAlloc->~btStackAlloc();
btAlignedFree(m_stackAlloc);
}
if (m_ownsCollisionAlgorithmPool)
{
m_collisionAlgorithmPool->~btPoolAllocator();

12
src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h
View File

@ -22,23 +22,19 @@ class btConvexPenetrationDepthSolver;
struct btDefaultCollisionConstructionInfo
{
btStackAlloc* m_stackAlloc;
btPoolAllocator* m_persistentManifoldPool;
btPoolAllocator* m_collisionAlgorithmPool;
int m_defaultMaxPersistentManifoldPoolSize;
int m_defaultMaxCollisionAlgorithmPoolSize;
int m_customCollisionAlgorithmMaxElementSize;
int m_defaultStackAllocatorSize;
int m_useEpaPenetrationAlgorithm;
btDefaultCollisionConstructionInfo()
:m_stackAlloc(0),
m_persistentManifoldPool(0),
:m_persistentManifoldPool(0),
m_collisionAlgorithmPool(0),
m_defaultMaxPersistentManifoldPoolSize(4096),
m_defaultMaxCollisionAlgorithmPoolSize(4096),
m_customCollisionAlgorithmMaxElementSize(0),
m_defaultStackAllocatorSize(0),
m_useEpaPenetrationAlgorithm(true)
{
}
@ -56,8 +52,6 @@ protected:
int m_persistentManifoldPoolSize;
btStackAlloc* m_stackAlloc;
bool m_ownsStackAllocator;
btPoolAllocator* m_persistentManifoldPool;
bool m_ownsPersistentManifoldPool;
@ -105,10 +99,6 @@ public:
return m_collisionAlgorithmPool;
}
virtual btStackAlloc* getStackAllocator()
{
return m_stackAlloc;
}
virtual btVoronoiSimplexSolver* getSimplexSolver()
{

4
src/BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h
View File

@ -17,7 +17,6 @@ subject to the following restrictions:
#ifndef BT_CONVEX_PENETRATION_DEPTH_H
#define BT_CONVEX_PENETRATION_DEPTH_H
class btStackAlloc;
class btVector3;
#include "btSimplexSolverInterface.h"
class btConvexShape;
@ -33,8 +32,7 @@ public:
const btConvexShape* convexA,const btConvexShape* convexB,
const btTransform& transA,const btTransform& transB,
btVector3& v, btVector3& pa, btVector3& pb,
class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc
) = 0;
class btIDebugDraw* debugDraw) = 0;
};

5
src/BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h
View File

@ -19,7 +19,6 @@ subject to the following restrictions:
#include "LinearMath/btTransform.h"
#include "LinearMath/btVector3.h"
class btStackAlloc;
/// This interface is made to be used by an iterative approach to do TimeOfImpact calculations
/// This interface allows to query for closest points and penetration depth between two (convex) objects
@ -43,15 +42,13 @@ struct btDiscreteCollisionDetectorInterface
struct ClosestPointInput
{
ClosestPointInput()
:m_maximumDistanceSquared(btScalar(BT_LARGE_FLOAT)),
m_stackAlloc(0)
:m_maximumDistanceSquared(btScalar(BT_LARGE_FLOAT))
{
}
btTransform m_transformA;
btTransform m_transformB;
btScalar m_maximumDistanceSquared;
btStackAlloc* m_stackAlloc;
};
virtual ~btDiscreteCollisionDetectorInterface() {};

2
src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp
View File

@ -25,7 +25,7 @@ bool btGjkEpaPenetrationDepthSolver::calcPenDepth( btSimplexSolverInterface& sim
const btConvexShape* pConvexA, const btConvexShape* pConvexB,
const btTransform& transformA, const btTransform& transformB,
btVector3& v, btVector3& wWitnessOnA, btVector3& wWitnessOnB,
class btIDebugDraw* debugDraw, btStackAlloc* stackAlloc )
class btIDebugDraw* debugDraw)
{
(void)debugDraw;

2
src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h
View File

@ -33,7 +33,7 @@ class btGjkEpaPenetrationDepthSolver : public btConvexPenetrationDepthSolver
const btConvexShape* pConvexA, const btConvexShape* pConvexB,
const btTransform& transformA, const btTransform& transformB,
btVector3& v, btVector3& wWitnessOnA, btVector3& wWitnessOnB,
class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc );
class btIDebugDraw* debugDraw);
private :

2
src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
View File

@ -355,7 +355,7 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput& inpu
m_minkowskiA,m_minkowskiB,
localTransA,localTransB,
m_cachedSeparatingAxis, tmpPointOnA, tmpPointOnB,
debugDraw,input.m_stackAlloc
debugDraw
);

3
src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp
View File

@ -26,11 +26,10 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s
const btConvexShape* convexA,const btConvexShape* convexB,
const btTransform& transA,const btTransform& transB,
btVector3& v, btVector3& pa, btVector3& pb,
class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc
class btIDebugDraw* debugDraw
)
{
(void)stackAlloc;
(void)v;
bool check2d= convexA->isConvex2d() && convexB->isConvex2d();

2
src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h
View File

@ -32,7 +32,7 @@ public:
const btConvexShape* convexA,const btConvexShape* convexB,
const btTransform& transA,const btTransform& transB,
btVector3& v, btVector3& pa, btVector3& pb,
class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc
class btIDebugDraw* debugDraw
);
};

4
src/BulletDynamics/ConstraintSolver/btConstraintSolver.h
View File

@ -38,9 +38,9 @@ public:
virtual void prepareSolve (int /* numBodies */, int /* numManifolds */) {;}
///solve a group of constraints
virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints, const btContactSolverInfo& info,class btIDebugDraw* debugDrawer, btStackAlloc* stackAlloc,btDispatcher* dispatcher) = 0;
virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints, const btContactSolverInfo& info,class btIDebugDraw* debugDrawer,btDispatcher* dispatcher) = 0;
virtual void allSolved (const btContactSolverInfo& /* info */,class btIDebugDraw* /* debugDrawer */, btStackAlloc* /* stackAlloc */) {;}
virtual void allSolved (const btContactSolverInfo& /* info */,class btIDebugDraw* /* debugDrawer */) {;}
///clear internal cached data and reset random seed
virtual void reset() = 0;

19
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
View File

@ -909,10 +909,9 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
}
}
btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc)
btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer)
{
BT_PROFILE("solveGroupCacheFriendlySetup");
(void)stackAlloc;
(void)debugDrawer;
m_maxOverrideNumSolverIterations = 0;
@ -1256,7 +1255,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
}
btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration, btCollisionObject** /*bodies */,int /*numBodies*/,btPersistentManifold** /*manifoldPtr*/, int /*numManifolds*/,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* /*debugDrawer*/,btStackAlloc* /*stackAlloc*/)
btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration, btCollisionObject** /*bodies */,int /*numBodies*/,btPersistentManifold** /*manifoldPtr*/, int /*numManifolds*/,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* /*debugDrawer*/)
{
int numNonContactPool = m_tmpSolverNonContactConstraintPool.size();
@ -1492,7 +1491,7 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration
}
void btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc)
void btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer)
{
int iteration;
if (infoGlobal.m_splitImpulse)
@ -1532,20 +1531,20 @@ void btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySplitImpulseIte
}
}
btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations(btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc)
btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations(btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer)
{
BT_PROFILE("solveGroupCacheFriendlyIterations");
{
///this is a special step to resolve penetrations (just for contacts)
solveGroupCacheFriendlySplitImpulseIterations(bodies ,numBodies,manifoldPtr, numManifolds,constraints,numConstraints,infoGlobal,debugDrawer,stackAlloc);
solveGroupCacheFriendlySplitImpulseIterations(bodies ,numBodies,manifoldPtr, numManifolds,constraints,numConstraints,infoGlobal,debugDrawer);
int maxIterations = m_maxOverrideNumSolverIterations > infoGlobal.m_numIterations? m_maxOverrideNumSolverIterations : infoGlobal.m_numIterations;
for ( int iteration = 0 ; iteration< maxIterations ; iteration++)
//for ( int iteration = maxIterations-1 ; iteration >= 0;iteration--)
{
solveSingleIteration(iteration, bodies ,numBodies,manifoldPtr, numManifolds,constraints,numConstraints,infoGlobal,debugDrawer,stackAlloc);
solveSingleIteration(iteration, bodies ,numBodies,manifoldPtr, numManifolds,constraints,numConstraints,infoGlobal,debugDrawer);
}
}
@ -1632,15 +1631,15 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish(btCo
/// btSequentialImpulseConstraintSolver Sequentially applies impulses
btScalar btSequentialImpulseConstraintSolver::solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc,btDispatcher* /*dispatcher*/)
btScalar btSequentialImpulseConstraintSolver::solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btDispatcher* /*dispatcher*/)
{
BT_PROFILE("solveGroup");
//you need to provide at least some bodies
solveGroupCacheFriendlySetup( bodies, numBodies, manifoldPtr, numManifolds,constraints, numConstraints,infoGlobal,debugDrawer, stackAlloc);
solveGroupCacheFriendlySetup( bodies, numBodies, manifoldPtr, numManifolds,constraints, numConstraints,infoGlobal,debugDrawer);
solveGroupCacheFriendlyIterations(bodies, numBodies, manifoldPtr, numManifolds,constraints, numConstraints,infoGlobal,debugDrawer, stackAlloc);
solveGroupCacheFriendlyIterations(bodies, numBodies, manifoldPtr, numManifolds,constraints, numConstraints,infoGlobal,debugDrawer);
solveGroupCacheFriendlyFinish(bodies, numBodies, infoGlobal);

11
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
View File

@ -18,7 +18,6 @@ subject to the following restrictions:
class btIDebugDraw;
class btPersistentManifold;
class btStackAlloc;
class btDispatcher;
class btCollisionObject;
#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
@ -97,12 +96,12 @@ protected:
protected:
virtual void solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
virtual void solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
virtual btScalar solveGroupCacheFriendlyFinish(btCollisionObject** bodies,int numBodies,const btContactSolverInfo& infoGlobal);
btScalar solveSingleIteration(int iteration, btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
btScalar solveSingleIteration(int iteration, btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
public:
@ -112,7 +111,7 @@ public:
btSequentialImpulseConstraintSolver();
virtual ~btSequentialImpulseConstraintSolver();
virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btStackAlloc* stackAlloc,btDispatcher* dispatcher);
virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer,btDispatcher* dispatcher);

12
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
View File

@ -87,7 +87,6 @@ struct InplaceSolverIslandCallback : public btSimulationIslandManager::IslandCal
btTypedConstraint** m_sortedConstraints;
int m_numConstraints;
btIDebugDraw* m_debugDrawer;
btStackAlloc* m_stackAlloc;
btDispatcher* m_dispatcher;
btAlignedObjectArray<btCollisionObject*> m_bodies;
@ -104,7 +103,6 @@ struct InplaceSolverIslandCallback : public btSimulationIslandManager::IslandCal
m_sortedConstraints(NULL),
m_numConstraints(0),
m_debugDrawer(NULL),
m_stackAlloc(stackAlloc),
m_dispatcher(dispatcher)
{
@ -135,7 +133,7 @@ struct InplaceSolverIslandCallback : public btSimulationIslandManager::IslandCal
if (islandId<0)
{
///we don't split islands, so all constraints/contact manifolds/bodies are passed into the solver regardless the island id
m_solver->solveGroup( bodies,numBodies,manifolds, numManifolds,&m_sortedConstraints[0],m_numConstraints,*m_solverInfo,m_debugDrawer,m_stackAlloc,m_dispatcher);
m_solver->solveGroup( bodies,numBodies,manifolds, numManifolds,&m_sortedConstraints[0],m_numConstraints,*m_solverInfo,m_debugDrawer,m_dispatcher);
} else
{
//also add all non-contact constraints/joints for this island
@ -163,7 +161,7 @@ struct InplaceSolverIslandCallback : public btSimulationIslandManager::IslandCal
if (m_solverInfo->m_minimumSolverBatchSize<=1)
{
m_solver->solveGroup( bodies,numBodies,manifolds, numManifolds,startConstraint,numCurConstraints,*m_solverInfo,m_debugDrawer,m_stackAlloc,m_dispatcher);
m_solver->solveGroup( bodies,numBodies,manifolds, numManifolds,startConstraint,numCurConstraints,*m_solverInfo,m_debugDrawer,m_dispatcher);
} else
{
@ -190,7 +188,7 @@ struct InplaceSolverIslandCallback : public btSimulationIslandManager::IslandCal
btPersistentManifold** manifold = m_manifolds.size()?&m_manifolds[0]:0;
btTypedConstraint** constraints = m_constraints.size()?&m_constraints[0]:0;
m_solver->solveGroup( bodies,m_bodies.size(),manifold, m_manifolds.size(),constraints, m_constraints.size() ,*m_solverInfo,m_debugDrawer,m_stackAlloc,m_dispatcher);
m_solver->solveGroup( bodies,m_bodies.size(),manifold, m_manifolds.size(),constraints, m_constraints.size() ,*m_solverInfo,m_debugDrawer,m_dispatcher);
m_bodies.resize(0);
m_manifolds.resize(0);
m_constraints.resize(0);
@ -232,7 +230,7 @@ m_profileTimings(0)
{
void* mem = btAlignedAlloc(sizeof(InplaceSolverIslandCallback),16);
m_solverIslandCallback = new (mem) InplaceSolverIslandCallback (m_constraintSolver, m_stackAlloc, dispatcher);
m_solverIslandCallback = new (mem) InplaceSolverIslandCallback (m_constraintSolver, 0, dispatcher);
}
}
@ -724,7 +722,7 @@ void btDiscreteDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
m_solverIslandCallback->processConstraints();
m_constraintSolver->allSolved(solverInfo, m_debugDrawer, m_stackAlloc);
m_constraintSolver->allSolved(solverInfo, m_debugDrawer);
}

3
src/BulletDynamics/Dynamics/btDynamicsWorld.h
View File

@ -33,7 +33,8 @@ enum btDynamicsWorldType
BT_SIMPLE_DYNAMICS_WORLD=1,
BT_DISCRETE_DYNAMICS_WORLD=2,
BT_CONTINUOUS_DYNAMICS_WORLD=3,
BT_SOFT_RIGID_DYNAMICS_WORLD=4
BT_SOFT_RIGID_DYNAMICS_WORLD=4,
BT_GPU_DYNAMICS_WORLD=5
};
///The btDynamicsWorld is the interface class for several dynamics implementation, basic, discrete, parallel, and continuous etc.

4
src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp
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@ -78,8 +78,8 @@ int btSimpleDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps, b
btContactSolverInfo infoGlobal;
infoGlobal.m_timeStep = timeStep;
m_constraintSolver->prepareSolve(0,numManifolds);
m_constraintSolver->solveGroup(&getCollisionObjectArray()[0],getNumCollisionObjects(),manifoldPtr, numManifolds,0,0,infoGlobal,m_debugDrawer, m_stackAlloc,m_dispatcher1);
m_constraintSolver->allSolved(infoGlobal,m_debugDrawer, m_stackAlloc);
m_constraintSolver->solveGroup(&getCollisionObjectArray()[0],getNumCollisionObjects(),manifoldPtr, numManifolds,0,0,infoGlobal,m_debugDrawer, m_dispatcher1);
m_constraintSolver->allSolved(infoGlobal,m_debugDrawer);
}
///integrate transforms

3
src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuConvexPenetrationDepthSolver.h
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@ -20,7 +20,6 @@ subject to the following restrictions:
class btStackAlloc;
class btIDebugDraw;
#include "BulletCollision/NarrowphaseCollision/btConvexPenetrationDepthSolver.h"
@ -37,7 +36,7 @@ public:
void* convexA,void* convexB,int shapeTypeA, int shapeTypeB, float marginA, float marginB,
btTransform& transA,const btTransform& transB,
btVector3& v, btVector3& pa, btVector3& pb,
class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc,
class btIDebugDraw* debugDraw,
struct SpuConvexPolyhedronVertexData* convexVertexDataA,
struct SpuConvexPolyhedronVertexData* convexVertexDataB
) const = 0;

3
src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuMinkowskiPenetrationDepthSolver.cpp
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@ -72,10 +72,9 @@ bool SpuMinkowskiPenetrationDepthSolver::calcPenDepth( btSimplexSolverInterface&
const btConvexShape* convexA,const btConvexShape* convexB,
const btTransform& transA,const btTransform& transB,
btVector3& v, btVector3& pa, btVector3& pb,
class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc)
class btIDebugDraw* debugDraw)
{
#if 0
(void)stackAlloc;
(void)v;

3
src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuMinkowskiPenetrationDepthSolver.h
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@ -20,7 +20,6 @@ subject to the following restrictions:
#include "BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h"
class btStackAlloc;
class btIDebugDraw;
class btVoronoiSimplexSolver;
class btConvexShape;
@ -37,7 +36,7 @@ public:
const btConvexShape* convexA,const btConvexShape* convexB,
const btTransform& transA,const btTransform& transB,
btVector3& v, btVector3& pa, btVector3& pb,
class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc
class btIDebugDraw* debugDraw
);

2
src/BulletMultiThreaded/btParallelConstraintSolver.cpp
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@ -1163,7 +1163,7 @@ btParallelConstraintSolver::~btParallelConstraintSolver()
btScalar btParallelConstraintSolver::solveGroup(btCollisionObject** bodies1,int numRigidBodies,btPersistentManifold** manifoldPtr,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer, btStackAlloc* stackAlloc,btDispatcher* dispatcher)
btScalar btParallelConstraintSolver::solveGroup(btCollisionObject** bodies1,int numRigidBodies,btPersistentManifold** manifoldPtr,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer,btDispatcher* dispatcher)
{
/* int sz = sizeof(PfxSolverBody);

2
src/BulletMultiThreaded/btParallelConstraintSolver.h
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@ -279,7 +279,7 @@ public:
virtual ~btParallelConstraintSolver();
virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btStackAlloc* stackAlloc,btDispatcher* dispatcher);
virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer,btDispatcher* dispatcher);
};

1
src/LinearMath/btSerializer.h
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@ -17,7 +17,6 @@ subject to the following restrictions:
#define BT_SERIALIZER_H
#include "btScalar.h" // has definitions like SIMD_FORCE_INLINE
#include "btStackAlloc.h"
#include "btHashMap.h"
#if !defined( __CELLOS_LV2__) && !defined(__MWERKS__)