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Some more minor improvements for PS3 SPU version

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This commit is contained in:
erwin.coumans
2009-08-06 20:03:09 +00:00
parent 709f981390
commit 5d2cf447e4
3 changed files with 48 additions and 10 deletions
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20
src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp
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@@ -163,7 +163,7 @@ void btConeTwistConstraint::getInfo2NonVirtual (btConstraintInfo2* info,const bt
btScalar *J2 = info->m_J2angularAxis;
if((m_swingSpan1 < m_fixThresh) && (m_swingSpan2 < m_fixThresh))
{
btTransform trA = m_rbA.getCenterOfMassTransform()*m_rbAFrame;
btTransform trA = transA*m_rbAFrame;
btVector3 p = trA.getBasis().getColumn(1);
btVector3 q = trA.getBasis().getColumn(2);
int srow1 = srow + info->rowskip;
@@ -296,6 +296,7 @@ void btConeTwistConstraint::buildJacobian()
void btConeTwistConstraint::solveConstraintObsolete(btSolverBody& bodyA,btSolverBody& bodyB,btScalar timeStep)
{
#ifndef __SPU__
if (m_useSolveConstraintObsolete)
{
btVector3 pivotAInW = m_rbA.getCenterOfMassTransform()*m_rbAFrame.getOrigin();
@@ -502,11 +503,14 @@ void btConeTwistConstraint::solveConstraintObsolete(btSolverBody& bodyA,btSolver
}
}
}
#else
btAssert(0);
#endif //__SPU__
}
void btConeTwistConstraint::updateRHS(btScalar timeStep)
{
(void)timeStep;
@@ -514,7 +518,7 @@ void btConeTwistConstraint::updateRHS(btScalar timeStep)
}
#ifndef __SPU__
void btConeTwistConstraint::calcAngleInfo()
{
m_swingCorrection = btScalar(0.);
@@ -600,7 +604,7 @@ void btConeTwistConstraint::calcAngleInfo()
}
}
}
#endif //__SPU__
static btVector3 vTwist(1,0,0); // twist axis in constraint's space
@@ -677,8 +681,8 @@ void btConeTwistConstraint::calcAngleInfo2(const btTransform& transA, const btTr
m_twistAxisA.setValue(0,0,0);
m_kSwing = btScalar(1.) /
(getRigidBodyA().computeAngularImpulseDenominator(m_swingAxis) +
getRigidBodyB().computeAngularImpulseDenominator(m_swingAxis));
(computeAngularImpulseDenominator(m_swingAxis,invInertiaWorldA) +
computeAngularImpulseDenominator(m_swingAxis,invInertiaWorldB));
}
}
else
@@ -780,8 +784,8 @@ void btConeTwistConstraint::calcAngleInfo2(const btTransform& transA, const btTr
m_twistAxis = quatRotate(qB, -twistAxis);
m_kTwist = btScalar(1.) /
(getRigidBodyA().computeAngularImpulseDenominator(m_twistAxis) +
getRigidBodyB().computeAngularImpulseDenominator(m_twistAxis));
(computeAngularImpulseDenominator(m_twistAxis,invInertiaWorldA) +
computeAngularImpulseDenominator(m_twistAxis,invInertiaWorldB));
}
if (m_solveSwingLimit)