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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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7
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
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@@ -262,7 +262,6 @@ btSolverConstraint& btSequentialImpulseConstraintSolver::addFrictionConstraint(c
solverConstraint.m_solverBodyIdA = solverBodyIdA;
solverConstraint.m_solverBodyIdB = solverBodyIdB;
solverConstraint.m_constraintType = btSolverConstraint::BT_SOLVER_FRICTION_1D;
solverConstraint.m_frictionIndex = frictionIndex;
solverConstraint.m_friction = cp.m_combinedFriction;
@@ -465,6 +464,8 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
info2.m_J2linearAxis = 0;
info2.m_J2angularAxis = currentConstraintRow->m_relpos2CrossNormal;
info2.rowskip = sizeof(btSolverConstraint)/sizeof(btScalar);//check this
///the size of btSolverConstraint needs be a multiple of btScalar
btAssert(info2.rowskip*sizeof(btScalar)== sizeof(btSolverConstraint));
info2.m_constraintError = &currentConstraintRow->m_rhs;
info2.cfm = &currentConstraintRow->m_cfm;
info2.m_lowerLimit = &currentConstraintRow->m_lowerLimit;
@@ -581,7 +582,6 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
solverConstraint.m_solverBodyIdA = solverBodyIdA;
solverConstraint.m_solverBodyIdB = solverBodyIdB;
solverConstraint.m_constraintType = btSolverConstraint::BT_SOLVER_CONTACT_1D;
solverConstraint.m_originalContactPoint = &cp;
@@ -945,6 +945,9 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations(
/// btSequentialImpulseConstraintSolver Sequentially applies impulses
btScalar btSequentialImpulseConstraintSolver::solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc,btDispatcher* /*dispatcher*/)
{
BT_PROFILE("solveGroup");
//we only implement SOLVER_CACHE_FRIENDLY now
//you need to provide at least some bodies