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Crazy train 20201012 #346

Merged
merged 173 commits into from
Oct 18, 2020
Merged

Crazy train 20201012 #346

merged 173 commits into from
Oct 18, 2020

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louis-langholtz
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Description - What's this PR do?

Major changes:

  • Switches public interfaces from reference semantics to value semantics.
  • Redesigned memory usage to be more linear and more contiguous.
  • Isolates the world implementation behind a compilation firewall providing for a stable Application Binary Interface (ABI). Many future changes can occur without breaking binary compatibility with application using this new interface.
  • Increased performance of world stepping for many tested scenarios.
  • Bumps the version from 0.9 to 0.10.

Impacts/Risks of These Changes?

Introduces a number of API breaking changes but at the benefit of providing a new ABI stable interface.

Any background context you want to provide?

This addresses many major project goals.

Related Issues

@louis-langholtz
Removes "const" from where it's already implied.
0d1c358
@louis-langholtz
Refactors private method into anonymous free function.
bf79341
@louis-langholtz
Moves World implementation details behind a PIMPL...
36c529a 
This is an initial commit towards eliminating pointers from user code,
deriving a more stable ABI, and eliminating the uses of friend classes.
@louis-langholtz
Removes back pointers to World.
d7db2dd
@louis-langholtz
WIP
83c14fc
@louis-langholtz
Adds include to ensure std::hash defined.
b5fa81c
@louis-langholtz
Gets more joint support working again
10dac1a
@louis-langholtz
Gets contact NeedsUpdating support working again.
1481573
@louis-langholtz
Renames GetBodyID to just GetBody.
58ff02d
@louis-langholtz
Gets more unit tests compiling and runnable again
eaec644
@louis-langholtz
Moves WorldImpl free function declarations out to own header files.
ea0fdb3
@louis-langholtz
Moves WorldImpl free functions out to header respective cpp files.
fd1d207
@louis-langholtz
Removes unnecessary includes.
bc62680
@louis-langholtz
Reindents to newer convention of not nesting within namespaces.
653e217
@louis-langholtz
Pulls some anonymous function out to associated class definitions...
d4a76ad 
Towards reducing size of WorldImpl.cpp.
@louis-langholtz
Provides free function pathway to setting joint user data.
fa6b738
@louis-langholtz
Removes uses of FixtureAtty...
8725f4f 
Towards removing uses of friend classes that are no longer needed due
to the new WorldImpl design,
@louis-langholtz
Removes no longer used/needed FixtureAtty.hpp
a492eb6
@louis-langholtz
Removes uses/needs for JointAtty...
90561a6 
Towards removing uses of friend classes that are no longer needed due
to the new WorldImpl design.
@louis-langholtz
Removes no longer used/needed JointAtty.hpp
bdd9fa8
@louis-langholtz
Removes uses/need of ContactAtty...
7f74a82 
Towards removing uses of friend classes that are no longer needed due
to the new WorldImpl design.
@louis-langholtz
Removes no longer used/needed ContactAtty.hpp
4c7289e
@louis-langholtz
Removes uses/need of BodyAtty...
22c7e58 
Towards removing uses of friend classes that are no longer needed due
to the new WorldImpl design.
@louis-langholtz
Removes no longer used/needed BodyAtty.hpp
239cdfe
@louis-langholtz
Removes unnecessary includes...
9a88aa8 
WorldImpl class is meant to be self-contained "basis" code for free
functions; not the other way around. Removing these includes helps
ensure that. And it recognized a need for ComputeMassData being a basis
member function as well so it was added.
@louis-langholtz
Gets library & unit test code building in debug mode again.
e8da56f
@louis-langholtz
Updates unit tests for new smaller sizes...
3f2de7d 
From switching pointers to indices which are smaller.
@louis-langholtz
Moves declarations around to be more consistent.
978f533
@louis-langholtz
Reformats anonymous section.
4cd6db0
@louis-langholtz
Refactors some private methods into anonymous free functions.
42b0899
@louis-langholtz
More unit test updates.
668dc6d
@louis-langholtz
Maybe travis-ci likes these settings better?...
299dbc0 
See: https://travis-ci.community/t/how-to-use-clang-8/5208
@louis-langholtz
See if this change avoid double builds of PRs
2949c98
@louis-langholtz
What could go wrong trying a more recent distro?
c42f6e3
@louis-langholtz
See if packages available now in newer dist.
c32f0f0
@louis-langholtz
Removes source travis-ci says "can't be done securely" as in updated …
fc93d30 
…securely.
@louis-langholtz
Updates per feedback from travis-ci 674.1
bd46830
@louis-langholtz
Adds GLEW back in since travis-ci find GLEW was not working
33457b4
@louis-langholtz
Adds back in install of GLFW since that was not being found either by…
ef6bdc7 
… travis-ci.
@louis-langholtz
Adds glu1-mesa-dev and switches to dev in hopes of travis-ci success...
501e8d5
@louis-langholtz
Updates unit test expectations for travis-ci float builds.
db85827
@louis-langholtz
Avoids divides by zero.
1d8b1d9
@louis-langholtz
Increases unit testing of TargetJointConf.
5f166e1
@louis-langholtz
Removes assert.
9d90d9e
@louis-langholtz
Increases unit test coverage.
2ecb795
@louis-langholtz
Adds Doxygen docs.
a2a2bff
@louis-langholtz
Adds more unit test coverage.
cafcda1
@louis-langholtz louis-langholtz merged commit a6b75cc into master Oct 18, 2020
Reducing Uses Of Pointers automation moved this from To Do to Done Oct 18, 2020
Documentation work automation moved this from To Do to Done Oct 18, 2020
Slim Down World Class automation moved this from To Do to Done Oct 18, 2020
Increasing Genericity Of PlayRho Code automation moved this from To Do to Done Oct 18, 2020
Getting rid of friend classes! automation moved this from In Progress to Done Oct 18, 2020
@louis-langholtz louis-langholtz deleted the crazy-train-20201012 branch October 18, 2020 03:26
This was referenced Oct 18, 2020
Closed
Closed
@louis-langholtz louis-langholtz linked an issue Oct 18, 2020 that may be closed by this pull request
Joint class designed for public inheritance. #288
Closed
This was referenced Oct 18, 2020
Closed
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Bug For issues or changes that describe or fix bugs. Docs Use when issue or pull request relates to the documentation of the project. Enhancement For suggestions or changes that enhance any part of the project and isn't a bug.
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Documentation work
  
Done
Enhancing Cache Locality
  
Awaiting triage
Increasing Genericity Of PlayRho Code
  
Done
Reducing Uses Of Pointers
  
Done
Slim Down World Class
  
Done
Getting rid of friend classes!
Done
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Joint class designed for public inheritance.
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