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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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28
src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/boxBoxDistance.cpp
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@@ -178,14 +178,11 @@ VertexBFaceATests(
PE_REF(Vector3) faceOffsetBA,
const Matrix3 & matrixAB,
const Matrix3 & matrixBA,
PE_REF(Vector3) signsB1,
PE_REF(Vector3) scalesB1,
PE_REF(Vector3) signsB,
PE_REF(Vector3) scalesB,
bool first )
{
Vector3 signsB = signsB1;
Vector3 scalesB = scalesB;
float t0, t1;
float distSqr;
@@ -307,12 +304,10 @@ VertexAFaceBTests(
PE_REF(Vector3) faceOffsetBA,
const Matrix3 & matrixAB,
const Matrix3 & matrixBA,
PE_REF(Vector3) signsA1,
PE_REF(Vector3) scalesA1,
PE_REF(Vector3) signsA,
PE_REF(Vector3) scalesA,
bool first )
{
Vector3 signsA = signsA1;
Vector3 scalesA = scalesA1;
float t0, t1;
float distSqr;
@@ -545,18 +540,13 @@ EdgeEdgeTests(
PE_REF(Vector3) faceOffsetBA,
const Matrix3 & matrixAB,
const Matrix3 & matrixBA,
PE_REF(Vector3) signsA1,
PE_REF(Vector3) signsB1,
PE_REF(Vector3) scalesA1,
PE_REF(Vector3) scalesB1,
PE_REF(Vector3) signsA,
PE_REF(Vector3) signsB,
PE_REF(Vector3) scalesA,
PE_REF(Vector3) scalesB,
bool first )
{
Vector3 signsA=signsA1;
Vector3 signsB=signsB1;
Vector3 scalesA=scalesA1;
Vector3 scalesB=scalesB1;
float distSqr;
float tA, tB;