fix double precision, and remove alloca

increase mass of the load, to show benefits of direct MLCP solver move damping back to original location
2013-10-24 18:31:27 +00:00
parent 5ca137cb54
commit 19f999ac08
6 changed files with 88 additions and 83 deletions
--- a/src/BulletDynamics/MLCPSolvers/btMLCPSolver.cpp
+++ b/src/BulletDynamics/MLCPSolvers/btMLCPSolver.cpp
@@ -210,12 +210,12 @@ void btMLCPSolver::createMLCPFast(const btContactSolverInfo& infoGlobal)
 		jointNodeArray.reserve(2*m_allConstraintArray.size());
 	}

-	static btMatrixXf J3;
+	static btMatrixXu J3;
 	{
 		BT_PROFILE("J3.resize");
 		J3.resize(2*m,8);
 	}
-	static btMatrixXf JinvM3;
+	static btMatrixXu JinvM3;
 	{
 		BT_PROFILE("JinvM3.resize/setZero");