From 8376da46a66a9175aec02b8ba72a26f641d1b815 Mon Sep 17 00:00:00 2001 From: ejcoumans Date: Sun, 25 Jun 2006 16:38:32 +0000 Subject: [PATCH] ASSERT instead of assert, removed unused padding in rigidbody (was it 4500 bytes, now 500 bytes) --- BulletDynamics/ConstraintSolver/JacobianEntry.h | 8 ++++---- BulletDynamics/Dynamics/RigidBody.h | 6 ++++-- 2 files changed, 8 insertions(+), 6 deletions(-) diff --git a/BulletDynamics/ConstraintSolver/JacobianEntry.h b/BulletDynamics/ConstraintSolver/JacobianEntry.h index d2fd982aa..d1dd367a0 100644 --- a/BulletDynamics/ConstraintSolver/JacobianEntry.h +++ b/BulletDynamics/ConstraintSolver/JacobianEntry.h @@ -50,7 +50,7 @@ public: m_1MinvJt = inertiaInvB * m_bJ; m_Adiag = massInvA + m_0MinvJt.dot(m_aJ) + massInvB + m_1MinvJt.dot(m_bJ); - assert(m_Adiag > 0.0f); + ASSERT(m_Adiag > 0.0f); } //angular constraint between two different rigidbodies @@ -67,7 +67,7 @@ public: m_1MinvJt = inertiaInvB * m_bJ; m_Adiag = m_0MinvJt.dot(m_aJ) + m_1MinvJt.dot(m_bJ); - assert(m_Adiag > 0.0f); + ASSERT(m_Adiag > 0.0f); } //angular constraint between two different rigidbodies @@ -83,7 +83,7 @@ public: m_1MinvJt = inertiaInvB * m_bJ; m_Adiag = m_0MinvJt.dot(m_aJ) + m_1MinvJt.dot(m_bJ); - assert(m_Adiag > 0.0f); + ASSERT(m_Adiag > 0.0f); } //constraint on one rigidbody @@ -101,7 +101,7 @@ public: m_1MinvJt = SimdVector3(0.f,0.f,0.f); m_Adiag = massInvA + m_0MinvJt.dot(m_aJ); - assert(m_Adiag > 0.0f); + ASSERT(m_Adiag > 0.0f); } SimdScalar getDiagonal() const { return m_Adiag; } diff --git a/BulletDynamics/Dynamics/RigidBody.h b/BulletDynamics/Dynamics/RigidBody.h index fd96dc99d..1a259faf6 100644 --- a/BulletDynamics/Dynamics/RigidBody.h +++ b/BulletDynamics/Dynamics/RigidBody.h @@ -254,6 +254,7 @@ public: m_broadphaseProxy = broadphaseProxy; } + /// for ode solver-binding dMatrix3 m_R;//temp @@ -261,10 +262,11 @@ public: dMatrix3 m_invI; int m_odeTag; - float m_padding[1024]; + SimdVector3 m_tacc;//temp SimdVector3 m_facc; - + + int m_debugBodyId; };