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Fixes for broadphase/paircache determinism.

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Revert definition for ATTRIBUTE_ALIGNED16, and try to force sizeof(btSolverConstraint) by using unions with btScalar, for non-btScalar data types.
Use btAssert and not assert.
Don't access btAlignedObjectArray elements, for zero sets
This commit is contained in:
erwin.coumans
2009-02-10 23:50:21 +00:00
parent be3260280a
commit 7a2a98078a
35 changed files with 323 additions and 205 deletions
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10
src/BulletDynamics/ConstraintSolver/btContactConstraint.cpp
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@@ -22,7 +22,7 @@ subject to the following restrictions:
#include "LinearMath/btMinMax.h"
#include "BulletCollision/NarrowPhaseCollision/btManifoldPoint.h"
#define ASSERT2 assert
#define ASSERT2 btAssert
#define USE_INTERNAL_APPLY_IMPULSE 1
@@ -114,7 +114,7 @@ btScalar resolveSingleCollision(
btScalar Kcor = Kerp *Kfps;
btConstraintPersistentData* cpd = (btConstraintPersistentData*) contactPoint.m_userPersistentData;
assert(cpd);
btAssert(cpd);
btScalar distance = cpd->m_penetration;
btScalar positionalError = Kcor *-distance;
btScalar velocityError = cpd->m_restitution - rel_vel;// * damping;
@@ -166,7 +166,7 @@ btScalar resolveSingleFriction(
btVector3 rel_pos2 = pos2 - body2.getCenterOfMassPosition();
btConstraintPersistentData* cpd = (btConstraintPersistentData*) contactPoint.m_userPersistentData;
assert(cpd);
btAssert(cpd);
btScalar combinedFriction = cpd->m_friction;
@@ -255,7 +255,7 @@ btScalar resolveSingleFrictionOriginal(
btVector3 rel_pos2 = pos2 - body2.getCenterOfMassPosition();
btConstraintPersistentData* cpd = (btConstraintPersistentData*) contactPoint.m_userPersistentData;
assert(cpd);
btAssert(cpd);
btScalar combinedFriction = cpd->m_friction;
@@ -337,7 +337,7 @@ btScalar resolveSingleCollisionCombined(
btScalar Kcor = Kerp *Kfps;
btConstraintPersistentData* cpd = (btConstraintPersistentData*) contactPoint.m_userPersistentData;
assert(cpd);
btAssert(cpd);
btScalar distance = cpd->m_penetration;
btScalar positionalError = Kcor *-distance;
btScalar velocityError = cpd->m_restitution - rel_vel;// * damping;