Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Added Dantzig MLCP solver option from Open Dynamics Engine (trying to avoid naming/linking conflicts in case ODE and Bullet is used together)

Browse Source 
If an MLCP solver fails, use PGS/SI fallback, add a boolean return value for 'solve' method
This commit is contained in:
erwin.coumans@gmail.com
2013-10-21 23:27:09 +00:00
parent 1ca0493dc4
commit 379f0079e0
10 changed files with 2322 additions and 56 deletions
Download Patch File Download Diff File Expand all files Collapse all files

39
src/LinearMath/btScalar.h
View File

@@ -257,10 +257,12 @@ inline int btGetVersion()
///The btScalar type abstracts floating point numbers, to easily switch between double and single floating point precision.
#if defined(BT_USE_DOUBLE_PRECISION)
typedef double btScalar;
//this number could be bigger in double precision
#define BT_LARGE_FLOAT 1e30
#else
typedef float btScalar;
//keep BT_LARGE_FLOAT*BT_LARGE_FLOAT < FLT_MAX
#define BT_LARGE_FLOAT 1e18f
@@ -412,15 +414,15 @@ SIMD_FORCE_INLINE btScalar btFmod(btScalar x,btScalar y) { return fmodf(x,y); }
#endif
#define SIMD_2_PI btScalar(6.283185307179586232)
#define SIMD_PI (SIMD_2_PI * btScalar(0.5))
#define SIMD_HALF_PI (SIMD_2_PI * btScalar(0.25))
#define SIMD_PI btScalar(3.1415926535897932384626433832795029)
#define SIMD_2_PI btScalar(2.0) * SIMD_PI
#define SIMD_HALF_PI (SIMD_PI * btScalar(0.5))
#define SIMD_RADS_PER_DEG (SIMD_2_PI / btScalar(360.0))
#define SIMD_DEGS_PER_RAD (btScalar(360.0) / SIMD_2_PI)
#define SIMDSQRT12 btScalar(0.7071067811865475244008443621048490)
#define btRecipSqrt(x) ((btScalar)(btScalar(1.0)/btSqrt(btScalar(x)))) /* reciprocal square root */
#define btRecip(x) (btScalar(1.0)/btScalar(x))
#ifdef BT_USE_DOUBLE_PRECISION
#define SIMD_EPSILON DBL_EPSILON
@@ -622,6 +624,35 @@ SIMD_FORCE_INLINE void btSetZero(T* a, int n)
--ncurr;
}
}
SIMD_FORCE_INLINE btScalar btLargeDot(const btScalar *a, const btScalar *b, int n)
{
btScalar p0,q0,m0,p1,q1,m1,sum;
sum = 0;
n -= 2;
while (n >= 0) {
p0 = a[0]; q0 = b[0];
m0 = p0 * q0;
p1 = a[1]; q1 = b[1];
m1 = p1 * q1;
sum += m0;
sum += m1;
a += 2;
b += 2;
n -= 2;
}
n += 2;
while (n > 0) {
sum += (*a) * (*b);
a++;
b++;
n--;
}
return sum;
}
// returns normalized value in range [-SIMD_PI, SIMD_PI]
SIMD_FORCE_INLINE btScalar btNormalizeAngle(btScalar angleInRadians)
{