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Merge branch 'master' of https://github.com/erwincoumans/bullet3

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erwincoumans
2019-05-09 09:41:32 -07:00
parent ba899b371d f598aad3d4
commit 2f0ee2870d
370 changed files with 71108 additions and 22971 deletions
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2
src/Bullet3Common/b3Vector3.h
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@@ -36,7 +36,7 @@ subject to the following restrictions:
#pragma warning(disable : 4556) // value of intrinsic immediate argument '4294967239' is out of range '0 - 255'
#endif
#define B3_SHUFFLE(x, y, z, w) ((w) << 6 | (z) << 4 | (y) << 2 | (x))
#define B3_SHUFFLE(x, y, z, w) (((w) << 6 | (z) << 4 | (y) << 2 | (x)) & 0xff)
//#define b3_pshufd_ps( _a, _mask ) (__m128) _mm_shuffle_epi32((__m128i)(_a), (_mask) )
#define b3_pshufd_ps(_a, _mask) _mm_shuffle_ps((_a), (_a), (_mask))
#define b3_splat3_ps(_a, _i) b3_pshufd_ps((_a), B3_SHUFFLE(_i, _i, _i, 3))

1
src/BulletDynamics/Featherstone/btMultiBody.cpp
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@@ -344,6 +344,7 @@ void btMultiBody::finalizeMultiDof()
m_deltaV.resize(6 + m_dofCount);
m_realBuf.resize(6 + m_dofCount + m_dofCount * m_dofCount + 6 + m_dofCount); //m_dofCount for joint-space vels + m_dofCount^2 for "D" matrices + delta-pos vector (6 base "vels" + joint "vels")
m_vectorBuf.resize(2 * m_dofCount); //two 3-vectors (i.e. one six-vector) for each system dof ("h" matrices)
m_matrixBuf.resize(m_links.size() + 1);
for (int i = 0; i < m_vectorBuf.size(); i++)
{
m_vectorBuf[i].setValue(0, 0, 0);

2
src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
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@@ -238,7 +238,7 @@ struct MultiBodyInplaceSolverIslandCallback : public btSimulationIslandManager::
{
}
MultiBodyInplaceSolverIslandCallback& operator=(MultiBodyInplaceSolverIslandCallback& other)
MultiBodyInplaceSolverIslandCallback& operator=(const MultiBodyInplaceSolverIslandCallback& other)
{
btAssert(0);
(void)other;

2
src/LinearMath/btVector3.h
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@@ -36,7 +36,7 @@ subject to the following restrictions:
#pragma warning(disable : 4556) // value of intrinsic immediate argument '4294967239' is out of range '0 - 255'
#endif
#define BT_SHUFFLE(x, y, z, w) ((w) << 6 | (z) << 4 | (y) << 2 | (x))
#define BT_SHUFFLE(x, y, z, w) (((w) << 6 | (z) << 4 | (y) << 2 | (x)) & 0xff)
//#define bt_pshufd_ps( _a, _mask ) (__m128) _mm_shuffle_epi32((__m128i)(_a), (_mask) )
#define bt_pshufd_ps(_a, _mask) _mm_shuffle_ps((_a), (_a), (_mask))
#define bt_splat3_ps(_a, _i) bt_pshufd_ps((_a), BT_SHUFFLE(_i, _i, _i, 3))