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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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32
src/BulletDynamics/ConstraintSolver/btSolverConstraint.h
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@@ -37,22 +37,40 @@ ATTRIBUTE_ALIGNED16 (struct) btSolverConstraint
//btVector3 m_contactNormal2;//usually m_contactNormal2 == -m_contactNormal
btVector3 m_angularComponentA;
btVector3 m_angularComponentB;
btVector3 m_angularComponentB;
mutable btSimdScalar m_appliedPushImpulse;
mutable btSimdScalar m_appliedImpulse;
int m_solverBodyIdA;
int m_solverBodyIdB;
btScalar m_friction;
btScalar m_restitution;
btScalar m_jacDiagABInv;
btScalar m_penetration;
int m_constraintType;
int m_frictionIndex;
void* m_originalContactPoint;
union
{
int m_frictionIndex;
btScalar m_unusedPadding1;
};
union
{
int m_solverBodyIdA;
btScalar m_unusedPadding2;
};
union
{
int m_solverBodyIdB;
btScalar m_unusedPadding3;
};
union
{
void* m_originalContactPoint;
btScalar m_unusedPadding4;
};
btScalar m_rhs;
btScalar m_cfm;
btScalar m_lowerLimit;