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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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9
examples/ThirdPartyLibs/BussIK/MatrixRmn.h
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@@ -117,7 +117,7 @@ public:
MatrixRmn& AddToDiagonal(const VectorRn& dVec);
// Solving systems of linear equations
void Solve(const VectorRn& b, VectorRn* x) const; // Solves the equation (*this)*x = b; Uses row operations. Assumes *this is invertible.
void Solve(const VectorRn& b, VectorRn* x, MatrixRmn& AugMat) const; // Solves the equation (*this)*x = b; Uses row operations. Assumes *this is invertible.
// Row Echelon Form and Reduced Row Echelon Form routines
// Row echelon form here allows non-negative entries (instead of 1's) in the positions of lead variables.
@@ -150,13 +150,6 @@ private:
double* x; // Array of vector entries - stored in column order
long AllocSize; // Allocated size of the x array
static MatrixRmn WorkMatrix; // Temporary work matrix
static MatrixRmn& GetWorkMatrix() { return WorkMatrix; }
static MatrixRmn& GetWorkMatrix(long numRows, long numCols)
{
WorkMatrix.SetSize(numRows, numCols);
return WorkMatrix;
}
// Internal helper routines for SVD calculations
static void CalcBidiagonal(MatrixRmn& U, MatrixRmn& V, VectorRn& w, VectorRn& superDiag);