3 new constraints added : btGeneric6DofSpringConstraint, btUniversalConstraint, btHinge2Constraint

Motors for btConeTwistConstraint added (for obsolete solver only)
appConstraintDemo changed to test new constraints
Several coding-style fixes

12 files changed, 197 insertions, 149 deletions

diff --git a/Demos/ConstraintDemo/ConstraintDemo.cpp b/Demos/ConstraintDemo/ConstraintDemo.cpp
index 7372a973b..7b298eaa2 100644
--- a/Demos/ConstraintDemo/ConstraintDemo.cpp
+++ b/Demos/ConstraintDemo/ConstraintDemo.cpp
@@ -44,6 +44,10 @@ btRigidBody* d6body0 =0;
 
 btHingeConstraint* spDoorHinge = NULL;
 
+static bool s_bTestConeTwistMotor = false;
+
+
+
 void	drawLimit()
 {
 		btVector3 from = sliderTransform*lowerSliderLimit;
@@ -71,6 +75,7 @@ void	ConstraintDemo::initPhysics()
 	setShadows(true);
 
 	setCameraDistance(26.f);
+	m_Time = 0;
 
 	m_collisionConfiguration = new btDefaultCollisionConfiguration();
 	m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
@@ -97,7 +102,7 @@ void	ConstraintDemo::initPhysics()
 	trans.setOrigin(btVector3(0,20,0));
 
 	float mass = 1.f;
-#if 0
+#if 1
 	//point to point constraint (ball socket)
 	{
 		btRigidBody* body0 = localCreateRigidBody( mass,trans,shape);
@@ -135,7 +140,7 @@ void	ConstraintDemo::initPhysics()
 	}
 #endif
 
-#if 0	
+#if 1	
 	//create a slider, using the generic D6 constraint
 	{
 		mass = 1.f;
@@ -179,7 +184,7 @@ void	ConstraintDemo::initPhysics()
 
 	}
 #endif
-#if 0
+#if 1
 	{ // create a door using hinge constraint attached to the world
 		btCollisionShape* pDoorShape = new btBoxShape(btVector3(2.0f, 5.0f, 0.2f));
 		m_collisionShapes.push_back(pDoorShape);
@@ -201,7 +206,7 @@ void	ConstraintDemo::initPhysics()
 		//btRigidBody* pDropBody = localCreateRigidBody( 10.0, doorTrans, shape);
 	}
 #endif
-#if 0
+#if 1
 	{ // create a generic 6DOF constraint
 
 		btTransform tr;
@@ -262,7 +267,7 @@ void	ConstraintDemo::initPhysics()
 		pGen6DOF->setDbgDrawSize(btScalar(5.f));
 	}
 #endif
-#if 0
+#if 1
 	{ // create a ConeTwist constraint
 
 		btTransform tr;
@@ -274,7 +279,7 @@ void	ConstraintDemo::initPhysics()
 		pBodyA->setActivationState(DISABLE_DEACTIVATION);
 
 		tr.setIdentity();
-		tr.setOrigin(btVector3(btScalar(-10.), btScalar(0.), btScalar(0.)));
+		tr.setOrigin(btVector3(btScalar(-10.), btScalar(-5.), btScalar(0.)));
 		tr.getBasis().setEulerZYX(0,0,0);
 		btRigidBody* pBodyB = localCreateRigidBody(0.0, tr, shape);
 //		btRigidBody* pBodyB = localCreateRigidBody(1.0, tr, shape);
@@ -282,19 +287,22 @@ void	ConstraintDemo::initPhysics()
 		btTransform frameInA, frameInB;
 		frameInA = btTransform::getIdentity();
 		frameInA.getBasis().setEulerZYX(0, 0, M_PI_2);
-		frameInA.setOrigin(btVector3(btScalar(0.), btScalar(-1.), btScalar(0.)));
+		frameInA.setOrigin(btVector3(btScalar(0.), btScalar(-5.), btScalar(0.)));
 		frameInB = btTransform::getIdentity();
 		frameInB.getBasis().setEulerZYX(0,0,  M_PI_2);
-		frameInB.setOrigin(btVector3(btScalar(0.), btScalar(4.), btScalar(0.)));
-
-		btConeTwistConstraint* pCT = new btConeTwistConstraint(*pBodyA, *pBodyB, frameInA, frameInB);
-//		pCT->setLimit(btScalar(M_PI_4), btScalar(M_PI_4), btScalar(M_PI) * 0.8f);
-		pCT->setLimit(btScalar(M_PI_4), btScalar(M_PI_4), btScalar(M_PI) * 0.8f, 1.0f); // soft limit == hard limit
-		m_dynamicsWorld->addConstraint(pCT, true);
-		pCT->setDbgDrawSize(btScalar(5.f));
+		frameInB.setOrigin(btVector3(btScalar(0.), btScalar(5.), btScalar(0.)));
+
+		m_ctc = new btConeTwistConstraint(*pBodyA, *pBodyB, frameInA, frameInB);
+//		m_ctc->setLimit(btScalar(M_PI_4), btScalar(M_PI_4), btScalar(M_PI) * 0.8f);
+//		m_ctc->setLimit(btScalar(M_PI_4*0.6f), btScalar(M_PI_4), btScalar(M_PI) * 0.8f, 1.0f); // soft limit == hard limit
+		m_ctc->setLimit(btScalar(M_PI_4*0.6f), btScalar(M_PI_4), btScalar(M_PI) * 0.8f, 0.5f);
+		m_dynamicsWorld->addConstraint(m_ctc, true);
+		m_ctc->setDbgDrawSize(btScalar(5.f));
+		// s_bTestConeTwistMotor = true; // use only with old solver for now
+		s_bTestConeTwistMotor = false;
 	}
 #endif
-#if 0
+#if 1
 	{ // Hinge connected to the world, with motor (to hinge motor with new and old constraint solver)
 		btTransform tr;
 		tr.setIdentity();
@@ -319,54 +327,95 @@ void	ConstraintDemo::initPhysics()
 		// static bodyA (parent) on top:
 		btTransform tr;
 		tr.setIdentity();
-		tr.setOrigin(btVector3(btScalar(0.), btScalar(4.), btScalar(0.)));
+		tr.setOrigin(btVector3(btScalar(20.), btScalar(4.), btScalar(0.)));
 		btRigidBody* pBodyA = localCreateRigidBody( 0.0, tr, shape);
 		pBodyA->setActivationState(DISABLE_DEACTIVATION);
 		// dynamic bodyB (child) below it :
 		tr.setIdentity();
-		tr.setOrigin(btVector3(btScalar(0.), btScalar(0.), btScalar(0.)));
+		tr.setOrigin(btVector3(btScalar(20.), btScalar(0.), btScalar(0.)));
 		btRigidBody* pBodyB = localCreateRigidBody(1.0, tr, shape);
 		pBodyB->setActivationState(DISABLE_DEACTIVATION);
 		// add some (arbitrary) data to build constraint frames
 		btVector3 parentAxis(1.f, 0.f, 0.f); 
 		btVector3 childAxis(0.f, 0.f, 1.f); 
-		btVector3 anchor(0.f, 2.f, 0.f);
-		// build frame basis
-		// 6DOF constraint uses Euler angles and to define limits
-		// it is assumed that rotational order is :
-		// Z - first, allowed limits are (-PI,PI);
-		// new position of Y - second (allowed limits are (-PI/2 + epsilon, PI/2 - epsilon), where epsilon is a small positive number 
-		// used to prevent constraint from instability on poles;
-		// new position of X, allowed limits are (-PI,PI);
-		// So to simulate ODE Universal joint we should use parent axis as Z, child axis as Y and limit all other DOFs
-		// Build the frame in world coordinate system first
-		btVector3 zAxis = parentAxis.normalize();
-		btVector3 yAxis = childAxis.normalize();
-		btVector3 xAxis = yAxis.cross(zAxis); // we want right coordinate system
-		btTransform frameInW;
-		frameInW.setIdentity();
-		frameInW.getBasis().setValue(	xAxis[0], yAxis[0], zAxis[0],	
-										xAxis[1], yAxis[1], zAxis[1],
-										xAxis[2], yAxis[2], zAxis[2]);
-		frameInW.setOrigin(anchor);
-		// now get constraint frame in local coordinate systems
-		btTransform frameInA = pBodyA->getCenterOfMassTransform().inverse() * frameInW;
-		btTransform frameInB = pBodyB->getCenterOfMassTransform().inverse() * frameInW;
-		// now create the constraint
-		btGeneric6DofConstraint* pGen6DOF = new btGeneric6DofConstraint(*pBodyA, *pBodyB, frameInA, frameInB, true);
-		// linear limits in our case are allowed offset of origin of frameInB in frameInA, so set them to zero
-		pGen6DOF->setLinearLowerLimit(btVector3(0., 0., 0.));
-		pGen6DOF->setLinearUpperLimit(btVector3(0., 0., 0.));
-		// set limits for parent (axis z) and child (axis Y)
-		pGen6DOF->setAngularLowerLimit(btVector3(0.f, -SIMD_HALF_PI * 0.5f, -SIMD_HALF_PI * 0.5f));
-		pGen6DOF->setAngularUpperLimit(btVector3(0.f,  SIMD_HALF_PI * 0.5f,  SIMD_HALF_PI * 0.5f));
+		btVector3 anchor(20.f, 2.f, 0.f);
+		btUniversalConstraint* pUniv = new btUniversalConstraint(*pBodyA, *pBodyB, anchor, parentAxis, childAxis);
+		pUniv->setLowerLimit(-SIMD_HALF_PI * 0.5f, -SIMD_HALF_PI * 0.5f);
+		pUniv->setUpperLimit(SIMD_HALF_PI * 0.5f,  SIMD_HALF_PI * 0.5f);
 		// add constraint to world
-		m_dynamicsWorld->addConstraint(pGen6DOF, true);
+		m_dynamicsWorld->addConstraint(pUniv, true);
 		// draw constraint frames and limits for debugging
-		pGen6DOF->setDbgDrawSize(btScalar(10.f));
+		pUniv->setDbgDrawSize(btScalar(5.f));
 	}
 #endif
 
+#if 1
+	{ // create a generic 6DOF constraint with springs 
+
+		btTransform tr;
+		tr.setIdentity();
+		tr.setOrigin(btVector3(btScalar(-20.), btScalar(16.), btScalar(0.)));
+		tr.getBasis().setEulerZYX(0,0,0);
+		btRigidBody* pBodyA = localCreateRigidBody( 0.0, tr, shape);
+		pBodyA->setActivationState(DISABLE_DEACTIVATION);
+
+		tr.setIdentity();
+		tr.setOrigin(btVector3(btScalar(-10.), btScalar(16.), btScalar(0.)));
+		tr.getBasis().setEulerZYX(0,0,0);
+		btRigidBody* pBodyB = localCreateRigidBody(1.0, tr, shape);
+		pBodyB->setActivationState(DISABLE_DEACTIVATION);
+
+		btTransform frameInA, frameInB;
+		frameInA = btTransform::getIdentity();
+		frameInA.setOrigin(btVector3(btScalar(10.), btScalar(0.), btScalar(0.)));
+		frameInB = btTransform::getIdentity();
+		frameInB.setOrigin(btVector3(btScalar(0.), btScalar(0.), btScalar(0.)));
+
+		btGeneric6DofSpringConstraint* pGen6DOFSpring = new btGeneric6DofSpringConstraint(*pBodyA, *pBodyB, frameInA, frameInB, true);
+		pGen6DOFSpring->setLinearUpperLimit(btVector3(5., 0., 0.));
+		pGen6DOFSpring->setLinearLowerLimit(btVector3(-5., 0., 0.));
+
+		pGen6DOFSpring->setAngularLowerLimit(btVector3(0.f, 0.f, -1.5f));
+		pGen6DOFSpring->setAngularUpperLimit(btVector3(0.f, 0.f, 1.5f));
+
+		m_dynamicsWorld->addConstraint(pGen6DOFSpring, true);
+		pGen6DOFSpring->setDbgDrawSize(btScalar(5.f));
+		
+		pGen6DOFSpring->enableSpring(0, true);
+		pGen6DOFSpring->setStiffness(0, 39.478f);
+		pGen6DOFSpring->enableSpring(5, true);
+		pGen6DOFSpring->setStiffness(5, 39.478f);
+		pGen6DOFSpring->setEquilibriumPoint();
+	}
+#endif
+#if 1
+	{ 
+		// create a Hinge2 joint
+		// create two rigid bodies
+		// static bodyA (parent) on top:
+		btTransform tr;
+		tr.setIdentity();
+		tr.setOrigin(btVector3(btScalar(-20.), btScalar(4.), btScalar(0.)));
+		btRigidBody* pBodyA = localCreateRigidBody( 0.0, tr, shape);
+		pBodyA->setActivationState(DISABLE_DEACTIVATION);
+		// dynamic bodyB (child) below it :
+		tr.setIdentity();
+		tr.setOrigin(btVector3(btScalar(-20.), btScalar(0.), btScalar(0.)));
+		btRigidBody* pBodyB = localCreateRigidBody(1.0, tr, shape);
+		pBodyB->setActivationState(DISABLE_DEACTIVATION);
+		// add some data to build constraint frames
+		btVector3 parentAxis(0.f, 1.f, 0.f); 
+		btVector3 childAxis(1.f, 0.f, 0.f); 
+		btVector3 anchor(-20.f, 0.f, 0.f);
+		btHinge2Constraint* pHinge2 = new btHinge2Constraint(*pBodyA, *pBodyB, anchor, parentAxis, childAxis);
+		pHinge2->setLowerLimit(-SIMD_HALF_PI * 0.5f);
+		pHinge2->setUpperLimit( SIMD_HALF_PI * 0.5f);
+		// add constraint to world
+		m_dynamicsWorld->addConstraint(pHinge2, true);
+		// draw constraint frames and limits for debugging
+		pHinge2->setDbgDrawSize(btScalar(5.f));
+	}
+#endif
 
 }
 
@@ -383,6 +432,7 @@ ConstraintDemo::~ConstraintDemo()
 		m_dynamicsWorld->removeConstraint(constraint);
 		delete constraint;
 	}
+	m_ctc = NULL;
 
 	//remove the rigidbodies from the dynamics world and delete them
 	for (i=m_dynamicsWorld->getNumCollisionObjects()-1; i>=0 ;i--)
@@ -424,6 +474,7 @@ ConstraintDemo::~ConstraintDemo()
 
 }
 
+
 void ConstraintDemo::clientMoveAndDisplay()
 {
 	
@@ -431,6 +482,28 @@ void ConstraintDemo::clientMoveAndDisplay()
 
  	float dt = float(getDeltaTimeMicroseconds()) * 0.000001f;
 	//printf("dt = %f: ",dt);
+
+	// drive cone-twist motor
+	m_Time += 0.03f;
+	if (s_bTestConeTwistMotor)
+	{  // this works only for obsolete constraint solver for now
+		// build cone target
+		btScalar t = 1.25f*m_Time;
+		btVector3 axis(0,sin(t),cos(t));
+		axis.normalize();
+		btQuaternion q1(axis, 0.75f*M_PI);
+
+		// build twist target
+		//btQuaternion q2(0,0,0);
+		//btQuaternion q2(btVehictor3(1,0,0), -0.3*sin(m_Time));
+		btQuaternion q2(btVector3(1,0,0), -1.49*sin(1.5*m_Time));
+
+		// compose cone + twist and set target
+		q1 = q1 * q2;
+		m_ctc->enableMotor(true);
+		m_ctc->setMotorTargetInConstraintSpace(q1);
+	}
+
 	
 	{
 	 	//during idle mode, just run 1 simulation step maximum
diff --git a/Demos/ConstraintDemo/ConstraintDemo.h b/Demos/ConstraintDemo/ConstraintDemo.h
index 8a4a1351b..18d95507d 100644
--- a/Demos/ConstraintDemo/ConstraintDemo.h
+++ b/Demos/ConstraintDemo/ConstraintDemo.h
@@ -48,7 +48,11 @@ class ConstraintDemo : public GlutDemoApplication
 		demo->myinit();

 		demo->initPhysics();

 		return demo;

-	}	

+	}

+

+	// for cone-twist motor driving

+	float m_Time;

+	class btConeTwistConstraint* m_ctc;

 	

 };

 

diff --git a/Demos/Gpu2dDemo/BasicDemo.cpp b/Demos/Gpu2dDemo/BasicDemo.cpp
index 7c3435a34..2b7d7b1cb 100644
--- a/Demos/Gpu2dDemo/BasicDemo.cpp
+++ b/Demos/Gpu2dDemo/BasicDemo.cpp
@@ -18,8 +18,6 @@ subject to the following restrictions:
 #include "BulletMultiThreaded/btGpuUtilsSharedDefs.h"

 #include "BulletMultiThreaded/btGpuUtilsSharedCode.h"

 

-//----------------------------------------------------------------------------------------

-

 

 #include "BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h"

 

diff --git a/Demos/Gpu2dDemo/btGpuDemo2dCpuFunc.cpp b/Demos/Gpu2dDemo/btGpuDemo2dCpuFunc.cpp
index 0374c4fa5..858ddf6da 100644
--- a/Demos/Gpu2dDemo/btGpuDemo2dCpuFunc.cpp
+++ b/Demos/Gpu2dDemo/btGpuDemo2dCpuFunc.cpp
@@ -13,21 +13,18 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.

 */

 

-//----------------------------------------------------------------------------------------

+

 

 #include "LinearMath/btQuickprof.h"

 

-//----------------------------------------------------------------------------------------

+

 #include "LinearMath/btScalar.h"

 

 #include "btGpuDemo2dSharedTypes.h"

 

-//----------------------------------------------------------------------------------------

+

 

 #include "BulletMultiThreaded/btGpuDefines.h"

 #include "BulletMultiThreaded/btGpuUtilsSharedDefs.h"

 #include "btGpuDemo2dSharedCode.h"

 

-//--------------------------------------------------------------------------

-//--------------------------------------------------------------------------

-//--------------------------------------------------------------------------

diff --git a/Demos/Gpu2dDemo/btGpuDemo2dSharedCode.h b/Demos/Gpu2dDemo/btGpuDemo2dSharedCode.h
index 2e3636640..64d1f2be3 100644
--- a/Demos/Gpu2dDemo/btGpuDemo2dSharedCode.h
+++ b/Demos/Gpu2dDemo/btGpuDemo2dSharedCode.h
@@ -13,7 +13,7 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.

 */

 

-//----------------------------------------------------------------------------------------

+

 

 #define USE_FRICTION 1

 #define FRICTION_BOX_GROUND_FACT 0.05f

@@ -21,14 +21,7 @@ subject to the following restrictions:
 #define USE_CENTERS 1

 //#include "LinearMath/btMinMax.h"

 

-//------------------------------------------------------------------------------------------------

-//------------------------------------------------------------------------------------------------

-//------------------------------------------------------------------------------------------------

-//----------------------------------------------------------------------------------------

-//----------------------------------------------------------------------------------------

 //----------   C o n s t r a i n t   s o l v e r    d e m o   ----------------------------

-//----------------------------------------------------------------------------------------

-//----------------------------------------------------------------------------------------

 

 #define MAX_VTX_PER_OBJ 8

 

diff --git a/Demos/Gpu2dDemo/btGpuDemo2dSharedDefs.h b/Demos/Gpu2dDemo/btGpuDemo2dSharedDefs.h
index ff6e15d73..1a2904811 100644
--- a/Demos/Gpu2dDemo/btGpuDemo2dSharedDefs.h
+++ b/Demos/Gpu2dDemo/btGpuDemo2dSharedDefs.h
@@ -13,11 +13,11 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.

 */

 

-//----------------------------------------------------------------------------------------

-//----------------------------------------------------------------------------------------

+

+

 //----------   C o n s t r a i n t   s o l v e r    d e m o   ----------------------------

-//----------------------------------------------------------------------------------------

-//----------------------------------------------------------------------------------------

+

+

 

 

 extern "C"

@@ -30,4 +30,4 @@ void BT_GPU_PREF(collisionBatchResolutionBox(void* constraints,int *batch,int nu
 

 }   // extern "C"

 

-//----------------------------------------------------------------------------------------

+

diff --git a/Demos/Gpu2dDemo/btGpuDemo2dSharedTypes.h b/Demos/Gpu2dDemo/btGpuDemo2dSharedTypes.h
index dc8cbb237..2d4a18baa 100644
--- a/Demos/Gpu2dDemo/btGpuDemo2dSharedTypes.h
+++ b/Demos/Gpu2dDemo/btGpuDemo2dSharedTypes.h
@@ -13,11 +13,7 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.

 */

 

-//----------------------------------------------------------------------------------------

-//----------------------------------------------------------------------------------------

 //----------   C o n s t r a i n t   s o l v e r    d e m o   ----------------------------

-//----------------------------------------------------------------------------------------

-//----------------------------------------------------------------------------------------

 

 struct btCudaPartProps

 {

@@ -36,4 +32,4 @@ struct btCudaBoxProps
 	float maxZ;

 };

 

-//----------------------------------------------------------------------------------------

+

diff --git a/Demos/Gpu2dDemo/btGpuDemoDynamicsWorld.cpp b/Demos/Gpu2dDemo/btGpuDemoDynamicsWorld.cpp
index ecc5535a2..f98c731a0 100644
--- a/Demos/Gpu2dDemo/btGpuDemoDynamicsWorld.cpp
+++ b/Demos/Gpu2dDemo/btGpuDemoDynamicsWorld.cpp
@@ -13,7 +13,7 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.

 */

 

-//--------------------------------------------------------------------------

+

 

 #include "btGpuDemoDynamicsWorld.h"

 #include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"

@@ -28,7 +28,7 @@ subject to the following restrictions:
 #include "BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h"

 

 

-//--------------------------------------------------------------------------

+

 

 #define BT_GPU_PREF(func) btCuda_##func

 

@@ -40,11 +40,11 @@ subject to the following restrictions:
 #include "btGpuDemo2dSharedDefs.h"

 #undef BT_GPU_PREF

 

-//--------------------------------------------------------------------------

+

 

 btGpuDemoDynamicsWorld* gpCudaDemoDynamicsWorld = NULL;

 

-//--------------------------------------------------------------------------

+

 

 void btGpuDemoDynamicsWorld::grabNonContactConstraintData()

 {

@@ -64,9 +64,9 @@ void btGpuDemoDynamicsWorld::grabNonContactConstraintData()
 				break;

 		}

 	}

-} // btGpuDemoDynamicsWorld::grabNonContactConstraintData()

+}

+

 

-//--------------------------------------------------------------------------

 

 void btGpuDemoDynamicsWorld::grabContactData()

 {

@@ -137,9 +137,9 @@ void btGpuDemoDynamicsWorld::grabContactData()
 		}

 		m_totalNumConstraints++;

 	}

-} // btCudaDemoDynamicsWorld::grabContactData()

+} 

+

 

-//--------------------------------------------------------------------------

 

 void btGpuDemoDynamicsWorld::grabP2PConstraintData(btPoint2PointConstraint* ct)

 {

@@ -177,9 +177,9 @@ void btGpuDemoDynamicsWorld::grabP2PConstraintData(btPoint2PointConstraint* ct)
 	}

 	m_totalNumConstraints++;

 	m_numNonContactConstraints++;

-} // btGpuDemoDynamicsWorld::grabP2PConstraintData()

+} 

+

 

-//--------------------------------------------------------------------------

 

 void btGpuDemoDynamicsWorld::grabData()

 {

@@ -214,9 +214,9 @@ void btGpuDemoDynamicsWorld::grabData()
 		grabContactData();

 	}

 	grabNonContactConstraintData();

-} // btGpuDemoDynamicsWorld::grabGata()

+} 

+

 

-//--------------------------------------------------------------------------

 

 void btGpuDemoDynamicsWorld::createBatches2()

 {

@@ -268,9 +268,9 @@ void btGpuDemoDynamicsWorld::createBatches2()
 		m_numInBatches[stage] = numInBatch;

 		pBatchIds += numInBatch;

 	}

-} // btGpuDemoDynamicsWorld::createBatches2()

+} 

+

 

-//--------------------------------------------------------------------------

 

 void btGpuDemoDynamicsWorld::writebackData()

 {

@@ -288,9 +288,9 @@ void btGpuDemoDynamicsWorld::writebackData()
 		v[2] = m_hAngVel[i + 1];

 		rb->setAngularVelocity(v);

 	}

-} // btGpuDemoDynamicsWorld::writebackData()

+} 

+

 

-//--------------------------------------------------------------------------

 

 void btGpuDemoDynamicsWorld::copyDataToGPU()

 {

@@ -339,9 +339,9 @@ void btGpuDemoDynamicsWorld::copyDataToGPU()
 	}

 #endif //BT_USE_CUDA

 

-} // btGpuDemoDynamicsWorld::copyDataToGPU()

+} 

+

 

-//--------------------------------------------------------------------------

 

 void btGpuDemoDynamicsWorld::setConstraintData(btCudaPartProps& partProps)

 {

@@ -358,9 +358,9 @@ void btGpuDemoDynamicsWorld::setConstraintData(btCudaPartProps& partProps)
 		}

 #endif //BT_USE_CUDA

 

-} // btGpuDemoDynamicsWorld::setConstraintData()

+} 

+

 

-//--------------------------------------------------------------------------

 

 void btGpuDemoDynamicsWorld::copyDataFromGPU()

 {

@@ -369,9 +369,9 @@ void btGpuDemoDynamicsWorld::copyDataFromGPU()
 	btCuda_copyArrayFromDevice(m_hVel, m_dcVel, (m_numObj + 1) * sizeof(float4));

 	btCuda_copyArrayFromDevice(m_hAngVel, m_dcAngVel, (m_numObj + 1) * sizeof(float)); 

 #endif //BT_USE_CUDA

-} // btGpuDemoDynamicsWorld::copyDataFromGPU()

+} 

+

 

-//--------------------------------------------------------------------------

 

 void btGpuDemoDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)

 {

@@ -384,9 +384,9 @@ void btGpuDemoDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
 		solveConstraints2(solverInfo);

 	}

 	m_totalNumConstraints = 0;

-} // btGpuDemoDynamicsWorld::solveConstraints()

+} 

+

 

-//--------------------------------------------------------------------------

 

 void btGpuDemoDynamicsWorld::solveConstraints2(btContactSolverInfo& solverInfo)

 {

@@ -433,9 +433,9 @@ void btGpuDemoDynamicsWorld::solveConstraints2(btContactSolverInfo& solverInfo)
 	writebackData();

 	m_numSimStep++;

 #endif //BT_USE_CUDA

-} // btGpuDemoDynamicsWorld::solveConstraints2()

+} 

+

 

-//--------------------------------------------------------------------------

 

 void btGpuDemoDynamicsWorld::solveConstraintsCPU2(btContactSolverInfo& solverInfo)

 {

@@ -496,9 +496,9 @@ void btGpuDemoDynamicsWorld::solveConstraintsCPU2(btContactSolverInfo& solverInf
 	}

 	writebackData();

 	m_numSimStep++;

-} // btGpuDemoDynamicsWorld::solveConstraintsCPU2()

+} 

+

 

-//--------------------------------------------------------------------------

 

 void btGpuDemoDynamicsWorld::debugDrawConstraints(int selectedBatch, const float* pColorTab)

 {

@@ -539,10 +539,9 @@ void btGpuDemoDynamicsWorld::debugDrawConstraints(int selectedBatch, const float
 		pBatchIds += numConstraints;

 		glEnd();

 	}

-} // btGpuDemoDynamicsWorld::debugDrawConstraints()

+} 

+

 

-//--------------------------------------------------------------------------

-//--------------------------------------------------------------------------

 

 void btGpuDemoDynamicsWorld::initShapeBuffer(int maxShapeBufferSize)

 {

@@ -557,9 +556,9 @@ void btGpuDemoDynamicsWorld::initShapeBuffer(int maxShapeBufferSize)
 #endif //BT_USE_CUDA

 

 	m_copyShapeDataToGPU = true;

-} // btGpuDemoDynamicsWorld::initShapeBuffer()

+} 

+

 

-//--------------------------------------------------------------------------

 

 void btGpuDemoDynamicsWorld::freeShapeBuffer()

 {

@@ -569,9 +568,9 @@ void btGpuDemoDynamicsWorld::freeShapeBuffer()
 	btCuda_freeArray(m_dShapeBuffer);

 	btCuda_freeArray(m_dShapeIds);

 #endif //BT_USE_CUDA

-} // btGpuDemoDynamicsWorld::freeShapeBuffer()

+} 

+

 

-//--------------------------------------------------------------------------

 

 void btGpuDemoDynamicsWorld::addSphere(btVector3& pos, btScalar rad)

 {

@@ -579,18 +578,15 @@ void btGpuDemoDynamicsWorld::addSphere(btVector3& pos, btScalar rad)
 	*pBuf = pos;

 	pBuf->setW(rad);

 	m_firstFreeShapeBufferOffset += sizeof(btVector3);

-} // btGpuDemoDynamicsWorld::addSphere()

+} 

+

 

-//--------------------------------------------------------------------------

 

 void btGpuDemoDynamicsWorld::addMultiShereObject(int numSpheres, int objIndex)

 {

 	m_hShapeIds[objIndex].x = m_firstFreeShapeBufferOffset;

 	m_hShapeIds[objIndex].y  = numSpheres;

 	return;

-} // btGpuDemoDynamicsWorld::addMultiShereObject()

+} 

 

-//--------------------------------------------------------------------------

-//--------------------------------------------------------------------------

-//--------------------------------------------------------------------------

 

diff --git a/Demos/Gpu2dDemo/btGpuDemoDynamicsWorld.h b/Demos/Gpu2dDemo/btGpuDemoDynamicsWorld.h
index 2e98f5b8d..88a77d1c8 100644
--- a/Demos/Gpu2dDemo/btGpuDemoDynamicsWorld.h
+++ b/Demos/Gpu2dDemo/btGpuDemoDynamicsWorld.h
@@ -13,12 +13,12 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.

 */

 

-//----------------------------------------------------------------------------------------

+

 

 #ifndef BT_CUDA_DEMO_DYNAMICS_WORLD_H

 #define BT_CUDA_DEMO_DYNAMICS_WORLD_H

 

-//----------------------------------------------------------------------------------------

+

 

 #include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"

 #include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"

@@ -46,15 +46,9 @@ subject to the following restrictions:
 #undef BT_GPU_PREF

 

 

-//----------------------------------------------------------------------------------------

-

-

-

-//----------------------------------------------------------------------------------------

-

 #include "btGpuDemo2dSharedTypes.h"

 

-//----------------------------------------------------------------------------------------

+

 

 #define CUDA_DEMO_DYNAMICS_WORLD_MAX_BATCHES 20

 

@@ -130,10 +124,10 @@ protected:
 	btVector3				m_worldMin;

 	btVector3				m_worldMax;

 	

-	//-------------------------------

+	

 	int*					m_hConstraintUsed;

 

-	//-------------------------------

+	

 	// shape buffer

 	int						m_maxShapeBufferSize;

 	int						m_firstFreeShapeBufferOffset;

@@ -146,7 +140,7 @@ protected:
 	void					freeShapeBuffer();

 	void					sendShapeDataToGpu();

 

-	//-------------------------------

+	

 	int						m_numNonContactConstraints;

 	void					grabNonContactConstraintData();

 	void					grabP2PConstraintData(btPoint2PointConstraint* ct);

diff --git a/Demos/Gpu2dDemo/btGpuDemoPairCache.cpp b/Demos/Gpu2dDemo/btGpuDemoPairCache.cpp
index 6c9d9fbcc..c258be484 100644
--- a/Demos/Gpu2dDemo/btGpuDemoPairCache.cpp
+++ b/Demos/Gpu2dDemo/btGpuDemoPairCache.cpp
@@ -13,7 +13,7 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.

 */

 

-//--------------------------------------------------------------------------

+

 

 #include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"

 

@@ -21,7 +21,7 @@ subject to the following restrictions:
 

 #include "btGpuDemoDynamicsWorld.h"

 

-//--------------------------------------------------------------------------

+

 

 void btGpuDemoPairCache::processAllOverlappingPairs(btOverlapCallback* callback, btDispatcher* dispatcher)

 {

@@ -41,9 +41,9 @@ void btGpuDemoPairCache::processAllOverlappingPairs(btOverlapCallback* callback,
 		}

 	}

 	gpCudaDemoDynamicsWorld->setTotalNumConstraints(numContConstraints);	

-} // btGpuDemoPairCache::processAllOverlappingPairs()

+} 

+

 

-//--------------------------------------------------------------------------

 

 // this will be called for each overlapping pair if collision detection uses pairCache other than btGpuDemoPairCache

 // IMPORTANT : m_numConstraints in gpCudaDemoDynamicsWorld is set to 0 at start of simulation step

@@ -74,6 +74,3 @@ void cudaDemoNearCallback(btBroadphasePair& collisionPair, btCollisionDispatcher
 	}

 } // cudaDemoNearCallback()

 

-//--------------------------------------------------------------------------

-//--------------------------------------------------------------------------

-//--------------------------------------------------------------------------

diff --git a/Demos/SliderConstraintDemo/SliderConstraintDemo.cpp b/Demos/SliderConstraintDemo/SliderConstraintDemo.cpp
index 09d81b9e8..2054ab665 100755
--- a/Demos/SliderConstraintDemo/SliderConstraintDemo.cpp
+++ b/Demos/SliderConstraintDemo/SliderConstraintDemo.cpp
@@ -21,7 +21,7 @@ Added support for ODE sover
 April 24, 2008

 */

 

-//-----------------------------------------------------------------------------

+

 

 

 #include "btBulletDynamicsCommon.h"

@@ -36,14 +36,14 @@ April 24, 2008
 #include "GL_ShapeDrawer.h"

 #include "GlutStuff.h"

 

-//-----------------------------------------------------------------------------

+

 

 #define SLIDER_DEMO_USE_ODE_SOLVER 0

 #define SLIDER_DEMO_USE_6DOF 0

 

 #define CUBE_HALF_EXTENTS 1.f

 

-//-----------------------------------------------------------------------------

+

 

 // A couple of sliders

 #if SLIDER_DEMO_USE_6DOF

@@ -55,7 +55,7 @@ April 24, 2008
 static btPoint2PointConstraint* spP2PConst;

 static btHingeConstraint* spHingeConst;

 

-//-----------------------------------------------------------------------------

+

 

 static void draw_axes(const btRigidBody& rb, const btTransform& frame)

 {

@@ -98,7 +98,7 @@ static void draw_axes(const btRigidBody& rb, const btTransform& frame)
 	glEnd();

 } // draw_axes()

 

-//-----------------------------------------------------------------------------

+

 

 #if SLIDER_DEMO_USE_6DOF

 static void	drawSlider(btGeneric6DofConstraint* pSlider)

@@ -133,7 +133,7 @@ static void	drawSlider(btSliderConstraint* pSlider)
 } // drawSlider()

 #endif

 

-//-----------------------------------------------------------------------------

+

 

 void SliderConstraintDemo::initPhysics()

 {

@@ -339,7 +339,7 @@ void SliderConstraintDemo::initPhysics()
 

 } // SliderConstraintDemo::initPhysics()

 

-//-----------------------------------------------------------------------------

+

 

 SliderConstraintDemo::~SliderConstraintDemo()

 {

@@ -381,7 +381,7 @@ SliderConstraintDemo::~SliderConstraintDemo()
 	delete m_collisionConfiguration;

 } // SliderConstraintDemo::~SliderConstraintDemo()

 

-//-----------------------------------------------------------------------------

+

 

 void SliderConstraintDemo::clientMoveAndDisplay()

 {

@@ -420,7 +420,7 @@ void SliderConstraintDemo::clientMoveAndDisplay()
     glutSwapBuffers();

 } // SliderConstraintDemo::clientMoveAndDisplay()

 

-//-----------------------------------------------------------------------------

+

 

 void SliderConstraintDemo::displayCallback(void) 

 {

@@ -436,4 +436,4 @@ void SliderConstraintDemo::displayCallback(void)
     glutSwapBuffers();

 } // SliderConstraintDemo::displayCallback()

 

-//-----------------------------------------------------------------------------

+

diff --git a/Demos/SliderConstraintDemo/SliderConstraintDemo.h b/Demos/SliderConstraintDemo/SliderConstraintDemo.h
index 5c7d25db7..18fd39975 100755
--- a/Demos/SliderConstraintDemo/SliderConstraintDemo.h
+++ b/Demos/SliderConstraintDemo/SliderConstraintDemo.h
@@ -13,18 +13,18 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-//-----------------------------------------------------------------------------
+
 
 #ifndef SLIDER_CONSTRAINT_DEMO_H
 #define SLIDER_CONSTRAINT_DEMO_H
 
-//-----------------------------------------------------------------------------
+
 
 #include "btBulletDynamicsCommon.h"
 #include "BulletDynamics/ConstraintSolver/btSliderConstraint.h"
 #include "GlutDemoApplication.h"
 
-//-----------------------------------------------------------------------------
+
 
 
 /// SliderConstraintDemo shows how to create a slider constraint