fine release candidate for newton 4.00 2021

make some collision system also parallel, lock and atomic free. I now need to revisit the joint limits, since I broke something there, but is not really critical now.
MADEAPPS · Dec 26, 2021 · bee9bd9 · bee9bd9
1 parent a53bf90
commit bee9bd9
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Showing 19 changed files with 263 additions and 250 deletions.
diff --git a/newton-4.00/applications/ndSandbox/demos/ndBasicStacks.cpp b/newton-4.00/applications/ndSandbox/demos/ndBasicStacks.cpp
@@ -280,8 +280,7 @@ void ndBasicStacks (ndDemoEntityManager* const scene)
 	BuildSphereColumn(scene, 10.0f, origin, ndVector(0.5f, 0.5f, 0.5f, 0.0f), 20);
 
 	origin.m_z += 6.0f;
-	//BuildBoxColumn(scene, 10.0f, origin, ndVector(0.5f, 0.5f, 0.5f, 0.0f), 7);
-	BuildBoxColumn(scene, 10.0f, origin, ndVector(0.5f, 0.5f, 0.5f, 0.0f), 20);
+	BuildBoxColumn(scene, 10.0f, origin, ndVector(0.5f, 0.5f, 0.5f, 0.0f), 18);
 
 	origin.m_z += 6.0f;
 	BuildCylinderColumn(scene, 10.0f, origin, ndVector(0.75f, 0.6f, 1.0f, 0.0f), 20);

diff --git a/newton-4.00/applications/ndSandbox/ndDemoEntityManager.cpp b/newton-4.00/applications/ndSandbox/ndDemoEntityManager.cpp
@@ -39,7 +39,7 @@
 //#define DEFAULT_SCENE	1		// gpu basic rigidbody
 //#define DEFAULT_SCENE	2		// friction ramp
 //#define DEFAULT_SCENE	3		// conservation of momentum 
-//#define DEFAULT_SCENE	4		// basic Stacks
+#define DEFAULT_SCENE	4		// basic Stacks
 //#define DEFAULT_SCENE	5		// basic Trigger
 //#define DEFAULT_SCENE	6		// basic player
 //#define DEFAULT_SCENE	7		// particle fluid
@@ -50,7 +50,7 @@
 //#define DEFAULT_SCENE	12		// active rag doll
 //#define DEFAULT_SCENE	13		// basic vehicle
 //#define DEFAULT_SCENE	14		// heavy vehicle
-#define DEFAULT_SCENE	15		// simple voronoi fracture
+//#define DEFAULT_SCENE	15		// simple voronoi fracture
 //#define DEFAULT_SCENE	16		// basic voronoi fracture
 //#define DEFAULT_SCENE	17		// linked voronoi fracture
 //#define DEFAULT_SCENE	18		// skin peel voronoi fracture

diff --git a/newton-4.00/applications/ndSandbox/toolbox/ndDebugDisplay.cpp b/newton-4.00/applications/ndSandbox/toolbox/ndDebugDisplay.cpp
@@ -72,7 +72,6 @@ static void DrawBox(const ndVector& p0, const ndVector& p1, glVector3 box[12][2]
 void RenderBodiesAABB(ndDemoEntityManager* const scene)
 {
 	ndWorld* const world = scene->GetWorld();
-	const ndBodyList& bodyList = world->GetBodyList();
 
 	GLuint shader = scene->GetShaderCache().m_wireFrame;
 
@@ -97,6 +96,7 @@ void RenderBodiesAABB(ndDemoEntityManager* const scene)
 	glEnableClientState(GL_VERTEX_ARRAY);
 	glVertexPointer(3, GL_FLOAT, sizeof (glVector3), box);
 
+	const ndBodyList& bodyList = world->GetBodyList();
 	for (ndBodyList::ndNode* bodyNode = bodyList.GetFirst(); bodyNode; bodyNode = bodyNode->GetNext())
 	{
 		ndVector p0;
@@ -181,7 +181,7 @@ void RenderContactPoints(ndDemoEntityManager* const scene)
 	glVector3 pointBuffer[4];
 	glEnableClientState(GL_VERTEX_ARRAY);
 	glVertexPointer(3, GL_FLOAT, sizeof (glVector3), pointBuffer);
-	const ndContactList& contactList = world->GetContactList();
+	const ndContactArray& contactList = world->GetContactList();
 	for (ndInt32 i = 0; i < contactList.GetCount(); ++i)
 	{
 		const ndContact* const contact = contactList[i];

diff --git a/newton-4.00/sdk/dCollision/ndBodyKinematic.h b/newton-4.00/sdk/dCollision/ndBodyKinematic.h
@@ -175,6 +175,7 @@ class ndBodyKinematic: public ndBody
 	void SetAccel(const ndJacobian& accel);
 	virtual void SpecialUpdate(ndFloat32 timestep);
 	virtual void IntegrateGyroSubstep(const ndVector& timestep);
+	virtual void ApplyExternalForces(ndInt32 threadIndex, ndFloat32 timestep);
 	virtual ndJacobian IntegrateForceAndToque(const ndVector& force, const ndVector& torque, const ndVector& timestep) const;
 
 	void UpdateCollisionMatrix();
@@ -514,5 +515,10 @@ inline void ndBodyKinematic::SpecialUpdate(ndFloat32)
 {
 	dAssert(0);
 }
+
+inline void ndBodyKinematic::ApplyExternalForces(ndInt32, ndFloat32)
+{
+}
+
 #endif 
 
diff --git a/newton-4.00/sdk/dCollision/ndCollision.h b/newton-4.00/sdk/dCollision/ndCollision.h
@@ -45,7 +45,7 @@
 #include <ndShapePoint.h>
 #include <ndShapeSphere.h>
 #include <ndShapeConvex.h>
-#include <ndContactList.h>
+#include <ndContactArray.h>
 #include <ndShapeCapsule.h>
 #include <ndShapeCylinder.h>
 #include <ndBodyKinematic.h>

diff --git a/newton-4.00/sdk/dCollision/ndContact.h b/newton-4.00/sdk/dCollision/ndContact.h
@@ -133,7 +133,7 @@ class ndContact: public ndConstraint
 	static ndVector m_initialSeparatingVector;
 
 	friend class ndScene;
-	friend class ndContactList;
+	friend class ndContactArray;
 	friend class ndBodyKinematic;
 	friend class ndContactSolver;
 	friend class ndShapeInstance;

diff --git a/newton-4.00/sdk/dCollision/ndContactList.cpp → ...on-4.00/sdk/dCollision/ndContactArray.cpp b/newton-4.00/sdk/dCollision/ndContactList.cpp → ...on-4.00/sdk/dCollision/ndContactArray.cpp
@@ -22,10 +22,10 @@
 #include "ndCoreStdafx.h"
 #include "ndCollisionStdafx.h"
 #include "ndContact.h"
-#include "ndContactList.h"
+#include "ndContactArray.h"
 #include "ndBodyKinematic.h"
 
-ndContact* ndContactList::CreateContact(ndBodyKinematic* const body0, ndBodyKinematic* const body1)
+ndContact* ndContactArray::CreateContact(ndBodyKinematic* const body0, ndBodyKinematic* const body1)
 {
 	ndContact* const contact = new ndContact;
 	contact->SetBodies(body0, body1);
@@ -35,16 +35,16 @@ ndContact* ndContactList::CreateContact(ndBodyKinematic* const body0, ndBodyKine
 	return contact;
 }
 
-void ndContactList::DeleteContact(ndContact* const contact)
+void ndContactArray::DeleteContact(ndContact* const contact)
 {
 	if (contact->m_isAttached)
 	{
-		contact->DetachFromBodies();
+	contact->DetachFromBodies();
 	}
 	contact->m_isDead = 1;
 }
 
-void ndContactList::DeleteAllContacts()
+void ndContactArray::DeleteAllContacts()
 {
 	for (ndInt32 i = GetCount() - 1; i >= 0; --i)
 	{

diff --git a/newton-4.00/sdk/dCollision/ndContactList.h → newton-4.00/sdk/dCollision/ndContactArray.h b/newton-4.00/sdk/dCollision/ndContactList.h → newton-4.00/sdk/dCollision/ndContactArray.h
@@ -25,26 +25,16 @@
 #include "ndCollisionStdafx.h"
 #include "ndContact.h"
 
-
-class ndConstraintArray: public ndArray<ndConstraint*>
-{
-	public: 
-	ndConstraintArray()
-		:ndArray<ndConstraint*>(1024)
-	{
-	}
-};
-
-class ndContactList : public ndArray<ndContact*>
+class ndContactArray : public ndArray<ndContact*>
 {
 	public:
-	ndContactList()
+	ndContactArray()
 		:ndArray<ndContact*>(1024)
 		,m_lock()
 	{
 	}
 
-	~ndContactList()
+	~ndContactArray()
 	{
 	}