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+ repaired SpuParallellSolverTask: support for warmstarting and added btAssert for constraint sizes that exceed CONSTRAINT_MAX_SIZE

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+ Share some more code between SpuParallelSolver and btSequentialImpulseConstraintSolver (both use btSolverBody now)
Lack of warmstarting reported here: http://bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2858
+ allow btBoxBoxDetector to execute on SPU.
This commit is contained in:
erwin.coumans
2008-11-16 05:48:42 +00:00
parent dcf3f96869
commit 686accab16
7 changed files with 494 additions and 279 deletions
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12
src/BulletDynamics/ConstraintSolver/btSolverBody.h
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@@ -29,16 +29,18 @@ ATTRIBUTE_ALIGNED16 (struct) btSolverBody
{
BT_DECLARE_ALIGNED_ALLOCATOR();
btMatrix3x3 m_worldInvInertiaTensor;
btVector3 m_angularVelocity;
btVector3 m_linearVelocity;
btVector3 m_centerOfMassPosition;
btVector3 m_pushVelocity;
btVector3 m_turnVelocity;
float m_angularFactor;
float m_invMass;
float m_friction;
btRigidBody* m_originalBody;
btVector3 m_linearVelocity;
btVector3 m_centerOfMassPosition;
btVector3 m_pushVelocity;
btVector3 m_turnVelocity;
SIMD_FORCE_INLINE void getVelocityInLocalPoint(const btVector3& rel_pos, btVector3& velocity ) const