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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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22
src/Bullet3OpenCL/RigidBody/kernels/jointSolver.h
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@@ -135,9 +135,10 @@ static const char* solveConstraintRowsCL= \
" float4 m_angularComponentA;\n"
" float4 m_angularComponentB;\n"
" \n"
" float4 m_appliedPushImpulse;\n"
" float4 m_appliedImpulse;\n"
"\n"
" float m_appliedPushImpulse;\n"
" float m_appliedImpulse;\n"
" int m_padding1;\n"
" int m_padding2;\n"
" float m_friction;\n"
" float m_jacDiagABInv;\n"
" float m_rhs;\n"
@@ -274,27 +275,27 @@ static const char* solveConstraintRowsCL= \
"\n"
"void resolveSingleConstraintRowGeneric(__global b3GpuSolverBody* body1, __global b3GpuSolverBody* body2, __global b3SolverConstraint* c)\n"
"{\n"
" float deltaImpulse = c->m_rhs-c->m_appliedImpulse.x*c->m_cfm;\n"
" float deltaImpulse = c->m_rhs-c->m_appliedImpulse*c->m_cfm;\n"
" float deltaVel1Dotn = dot3F4(c->m_contactNormal,body1->m_deltaLinearVelocity) + dot3F4(c->m_relpos1CrossNormal,body1->m_deltaAngularVelocity);\n"
" float deltaVel2Dotn = -dot3F4(c->m_contactNormal,body2->m_deltaLinearVelocity) + dot3F4(c->m_relpos2CrossNormal,body2->m_deltaAngularVelocity);\n"
"\n"
" deltaImpulse -= deltaVel1Dotn*c->m_jacDiagABInv;\n"
" deltaImpulse -= deltaVel2Dotn*c->m_jacDiagABInv;\n"
"\n"
" float sum = c->m_appliedImpulse.x + deltaImpulse;\n"
" float sum = c->m_appliedImpulse + deltaImpulse;\n"
" if (sum < c->m_lowerLimit)\n"
" {\n"
" deltaImpulse = c->m_lowerLimit-c->m_appliedImpulse.x;\n"
" c->m_appliedImpulse.x = c->m_lowerLimit;\n"
" deltaImpulse = c->m_lowerLimit-c->m_appliedImpulse;\n"
" c->m_appliedImpulse = c->m_lowerLimit;\n"
" }\n"
" else if (sum > c->m_upperLimit) \n"
" {\n"
" deltaImpulse = c->m_upperLimit-c->m_appliedImpulse.x;\n"
" c->m_appliedImpulse.x = c->m_upperLimit;\n"
" deltaImpulse = c->m_upperLimit-c->m_appliedImpulse;\n"
" c->m_appliedImpulse = c->m_upperLimit;\n"
" }\n"
" else\n"
" {\n"
" c->m_appliedImpulse.x = sum;\n"
" c->m_appliedImpulse = sum;\n"
" }\n"
"\n"
" internalApplyImpulse(body1,c->m_contactNormal*body1->m_invMass,c->m_angularComponentA,deltaImpulse);\n"
@@ -733,4 +734,5 @@ static const char* solveConstraintRowsCL= \
" }\n"
" }\n"
"}\n"
"\n"
;