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Remove a temporary global static work matrix in the BussIK, since it conflicts with multithreaded applications.

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Instead, let the user pass it in explicitly.
This commit is contained in:
Erwin Coumans
2020-01-11 12:43:27 -08:00
parent 83bdef8254
commit 2336dfcb9e
6 changed files with 25 additions and 29 deletions
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7
examples/ThirdPartyLibs/BussIK/MatrixRmn.cpp
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@@ -30,7 +30,6 @@ subject to the following restrictions:
#include "MatrixRmn.h"
MatrixRmn MatrixRmn::WorkMatrix; // Temporary work matrix
// Fill the diagonal entries with the value d. The rest of the matrix is unchanged.
void MatrixRmn::SetDiagonalEntries(double d)
@@ -354,12 +353,14 @@ MatrixRmn& MatrixRmn::MultiplyTranspose(const MatrixRmn& A, const MatrixRmn& B,
// Solves the equation (*this)*xVec = b;
// Uses row operations. Assumes *this is square and invertible.
// No error checking for divide by zero or instability (except with asserts)
void MatrixRmn::Solve(const VectorRn& b, VectorRn* xVec) const
void MatrixRmn::Solve(const VectorRn& b, VectorRn* xVec, MatrixRmn& AugMat) const
{
B3_PROFILE("MatrixRmn::Solve");
assert(NumRows == NumCols && NumCols == xVec->GetLength() && NumRows == b.GetLength());
// Copy this matrix and b into an Augmented Matrix
MatrixRmn& AugMat = GetWorkMatrix(NumRows, NumCols + 1);
AugMat.SetSize(NumRows, NumCols + 1);
AugMat.LoadAsSubmatrix(*this);
AugMat.SetColumn(NumRows, b);