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Fix btSoftBody so it compiles with older compilers, such as MSVC 6.0

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Add support for angularFactor for applyForce, see http://code.google.com/p/bullet/issues/detail?id=59&can=1
This commit is contained in:
erwin.coumans
2008-07-22 15:00:25 +00:00
parent d71f8d6623
commit 3483e2dfc8
5 changed files with 199 additions and 129 deletions
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12
src/BulletSoftBody/btSoftBodyInternals.h
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@@ -595,15 +595,19 @@ static inline void mulTPQ(btMatrix3x3& a,btScalar c,btScalar s,int p,int q)
{
const btScalar m[2][3]={ {a[p][0],a[p][1],a[p][2]},
{a[q][0],a[q][1],a[q][2]}};
for(int i=0;i<3;++i) a[p][i]=c*m[0][i]-s*m[1][i];
for(int i=0;i<3;++i) a[q][i]=c*m[1][i]+s*m[0][i];
int i;
for(i=0;i<3;++i) a[p][i]=c*m[0][i]-s*m[1][i];
for(i=0;i<3;++i) a[q][i]=c*m[1][i]+s*m[0][i];
}
static inline void mulPQ(btMatrix3x3& a,btScalar c,btScalar s,int p,int q)
{
const btScalar m[2][3]={ {a[0][p],a[1][p],a[2][p]},
{a[0][q],a[1][q],a[2][q]}};
for(int i=0;i<3;++i) a[i][p]=c*m[0][i]-s*m[1][i];
for(int i=0;i<3;++i) a[i][q]=c*m[1][i]+s*m[0][i];
int i;
for(i=0;i<3;++i) a[i][p]=c*m[0][i]-s*m[1][i];
for(i=0;i<3;++i) a[i][q]=c*m[1][i]+s*m[0][i];
}
};