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fixed issue with BulletMultiThreaded parallel solver friction constraint initialization, and removed unused velocityImpulse.

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ejcoumans
2007-11-11 18:39:47 +00:00
parent dd934ebd02
commit 232f41353f
2 changed files with 2 additions and 10 deletions
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11
Extras/BulletMultiThreaded/SpuSolverTask/SpuParallellSolverTask.cpp
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@@ -433,10 +433,6 @@ static void solveContact (SpuSolverInternalConstraint& constraint, SpuSolverBody
float sum = oldNormalImpulse + normalImpulse; float sum = oldNormalImpulse + normalImpulse;
constraint.m_appliedImpulse = float(0.) > sum ? float(0.): sum; constraint.m_appliedImpulse = float(0.) > sum ? float(0.): sum;
float oldVelocityImpulse = constraint.m_appliedVelocityImpulse;
float velocitySum = oldVelocityImpulse + velocityImpulse;
constraint.m_appliedVelocityImpulse = float(0.) > velocitySum ? float(0.): velocitySum;
normalImpulse = constraint.m_appliedImpulse - oldNormalImpulse; normalImpulse = constraint.m_appliedImpulse - oldNormalImpulse;
if (bodyA.m_invertedMass > 0) if (bodyA.m_invertedMass > 0)
@@ -1074,7 +1070,6 @@ void processSolverTask(void* userPtr, void* lsMemory)
-(taskDesc.m_commandData.m_manifoldSetup.m_solverInfo.m_erp/taskDesc.m_commandData.m_manifoldSetup.m_solverInfo.m_timeStep); -(taskDesc.m_commandData.m_manifoldSetup.m_solverInfo.m_erp/taskDesc.m_commandData.m_manifoldSetup.m_solverInfo.m_timeStep);
constraint.m_appliedImpulse = 0.f; constraint.m_appliedImpulse = 0.f;
constraint.m_appliedVelocityImpulse = 0.f;
btVector3 torqueAxis0 = rel_pos1.cross(cp.m_normalWorldOnB); btVector3 torqueAxis0 = rel_pos1.cross(cp.m_normalWorldOnB);
@@ -1101,9 +1096,8 @@ void processSolverTask(void* userPtr, void* lsMemory)
constraint.m_friction = cp.m_combinedFriction; constraint.m_friction = cp.m_combinedFriction;
constraint.m_appliedImpulse = btScalar(0.); constraint.m_appliedImpulse = btScalar(0.);
constraint.m_appliedVelocityImpulse = 0.f;
constraint.m_jacDiagABInv = computeJacobianInverse (rb0, rb1, pos1, pos2, cp.m_normalWorldOnB); constraint.m_jacDiagABInv = computeJacobianInverse (rb0, rb1, pos1, pos2, constraint.m_normal);
{ {
btVector3 ftorqueAxis0 = rel_pos1.cross(constraint.m_normal); btVector3 ftorqueAxis0 = rel_pos1.cross(constraint.m_normal);
@@ -1128,9 +1122,8 @@ void processSolverTask(void* userPtr, void* lsMemory)
constraint.m_friction = cp.m_combinedFriction; constraint.m_friction = cp.m_combinedFriction;
constraint.m_appliedImpulse = btScalar(0.); constraint.m_appliedImpulse = btScalar(0.);
constraint.m_appliedVelocityImpulse = 0.f;
constraint.m_jacDiagABInv = computeJacobianInverse (rb0, rb1, pos1, pos2, cp.m_normalWorldOnB); constraint.m_jacDiagABInv = computeJacobianInverse (rb0, rb1, pos1, pos2, constraint.m_normal);
{ {
btVector3 ftorqueAxis0 = rel_pos1.cross(constraint.m_normal); btVector3 ftorqueAxis0 = rel_pos1.cross(constraint.m_normal);

1
Extras/BulletMultiThreaded/SpuSolverTask/SpuParallellSolverTask.h
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@@ -126,7 +126,6 @@ ATTRIBUTE_ALIGNED16(struct) SpuSolverInternalConstraint
uint32_t m_localOffsetBodyB; uint32_t m_localOffsetBodyB;
btScalar m_appliedImpulse; btScalar m_appliedImpulse;
btScalar m_appliedVelocityImpulse;
btScalar m_friction; btScalar m_friction;
btScalar m_restitution; btScalar m_restitution;