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fix Linux version of ConstraintDemo

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This commit is contained in:
erwincoumans
2013-07-09 14:41:56 -07:00
parent 4a0d2847c4
commit 282e19171f
6 changed files with 43 additions and 37 deletions
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23
src/Bullet3OpenCL/RigidBody/kernels/jointSolver.cl
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@@ -133,9 +133,10 @@ typedef struct
float4 m_angularComponentA;
float4 m_angularComponentB;
float4 m_appliedPushImpulse;
float4 m_appliedImpulse;
float m_appliedPushImpulse;
float m_appliedImpulse;
int m_padding1;
int m_padding2;
float m_friction;
float m_jacDiagABInv;
float m_rhs;
@@ -272,27 +273,27 @@ __inline void internalApplyImpulse(__global b3GpuSolverBody* body, float4 linea
void resolveSingleConstraintRowGeneric(__global b3GpuSolverBody* body1, __global b3GpuSolverBody* body2, __global b3SolverConstraint* c)
{
float deltaImpulse = c->m_rhs-c->m_appliedImpulse.x*c->m_cfm;
float deltaImpulse = c->m_rhs-c->m_appliedImpulse*c->m_cfm;
float deltaVel1Dotn = dot3F4(c->m_contactNormal,body1->m_deltaLinearVelocity) + dot3F4(c->m_relpos1CrossNormal,body1->m_deltaAngularVelocity);
float deltaVel2Dotn = -dot3F4(c->m_contactNormal,body2->m_deltaLinearVelocity) + dot3F4(c->m_relpos2CrossNormal,body2->m_deltaAngularVelocity);
deltaImpulse -= deltaVel1Dotn*c->m_jacDiagABInv;
deltaImpulse -= deltaVel2Dotn*c->m_jacDiagABInv;
float sum = c->m_appliedImpulse.x + deltaImpulse;
float sum = c->m_appliedImpulse + deltaImpulse;
if (sum < c->m_lowerLimit)
{
deltaImpulse = c->m_lowerLimit-c->m_appliedImpulse.x;
c->m_appliedImpulse.x = c->m_lowerLimit;
deltaImpulse = c->m_lowerLimit-c->m_appliedImpulse;
c->m_appliedImpulse = c->m_lowerLimit;
}
else if (sum > c->m_upperLimit)
{
deltaImpulse = c->m_upperLimit-c->m_appliedImpulse.x;
c->m_appliedImpulse.x = c->m_upperLimit;
deltaImpulse = c->m_upperLimit-c->m_appliedImpulse;
c->m_appliedImpulse = c->m_upperLimit;
}
else
{
c->m_appliedImpulse.x = sum;
c->m_appliedImpulse = sum;
}
internalApplyImpulse(body1,c->m_contactNormal*body1->m_invMass,c->m_angularComponentA,deltaImpulse);
@@ -730,4 +731,4 @@ __kernel void getInfo2Kernel(__global b3SolverConstraint* solverConstraintRows,
}
}
}
}
}