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Add backface culling and option to keep unflipped hit normal in case a ray hits a back-facing triangle.

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Usage: set RayResultCallback.m_flags to kF_FilterBackfaces, optionally combined with kF_KeepUnflippedNormal.
Thanks Andy O'Neil for the patch!

Remove the force_inline for some internal constraint solver methods, it makes re-use easier.
Workaround/avoid MSVC 2005 compiler error in LibXML/trionan.c
This commit is contained in:
erwin.coumans
2009-02-28 01:25:23 +00:00
parent a216ce4bf6
commit 210fe36106
6 changed files with 48 additions and 14 deletions
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8
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
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@@ -55,7 +55,7 @@ static inline __m128 _vmathVfDot3( __m128 vec0, __m128 vec1 )
#endif//USE_SIMD
// Project Gauss Seidel or the equivalent Sequential Impulse
SIMD_FORCE_INLINE void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGenericSIMD(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c)
void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGenericSIMD(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c)
{
#ifdef USE_SIMD
__m128 cpAppliedImp = _mm_set1_ps(c.m_appliedImpulse);
@@ -89,7 +89,7 @@ SIMD_FORCE_INLINE void btSequentialImpulseConstraintSolver::resolveSingleConstra
}
// Project Gauss Seidel or the equivalent Sequential Impulse
SIMD_FORCE_INLINE void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGeneric(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c)
void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGeneric(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c)
{
btScalar deltaImpulse = c.m_rhs-btScalar(c.m_appliedImpulse)*c.m_cfm;
const btScalar deltaVel1Dotn = c.m_contactNormal.dot(body1.m_deltaLinearVelocity) + c.m_relpos1CrossNormal.dot(body1.m_deltaAngularVelocity);
@@ -120,7 +120,7 @@ SIMD_FORCE_INLINE void btSequentialImpulseConstraintSolver::resolveSingleConstra
body2.applyImpulse(-c.m_contactNormal*body2.m_invMass,c.m_angularComponentB,deltaImpulse);
}
SIMD_FORCE_INLINE void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowLowerLimitSIMD(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c)
void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowLowerLimitSIMD(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c)
{
#ifdef USE_SIMD
__m128 cpAppliedImp = _mm_set1_ps(c.m_appliedImpulse);
@@ -151,7 +151,7 @@ SIMD_FORCE_INLINE void btSequentialImpulseConstraintSolver::resolveSingleConstra
}
// Project Gauss Seidel or the equivalent Sequential Impulse
SIMD_FORCE_INLINE void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowLowerLimit(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c)
void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowLowerLimit(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c)
{
btScalar deltaImpulse = c.m_rhs-btScalar(c.m_appliedImpulse)*c.m_cfm;
const btScalar deltaVel1Dotn = c.m_contactNormal.dot(body1.m_deltaLinearVelocity) + c.m_relpos1CrossNormal.dot(body1.m_deltaAngularVelocity);