From 8b849e0d07671c9cf7a9270838e3c1fbb986999d Mon Sep 17 00:00:00 2001 From: "erwin.coumans" Date: Wed, 12 Oct 2011 20:22:55 +0000 Subject: [PATCH] Fixed split impulse SIMD issue in the constraint solver (doesn't affect default behaviour, as split impulse is switched off by default) Thanks to Laurent Coulon for the report/fix. http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?f=9&t=7515&p=25766#p25766 --- .../ConstraintSolver/btSequentialImpulseConstraintSolver.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp b/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp index a5e17f471..5ce67c536 100644 --- a/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp +++ b/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp @@ -225,7 +225,7 @@ void btSequentialImpulseConstraintSolver::resolveSplitPenetrationImpulseCacheFri resultUpperLess = _mm_cmplt_ps(sum,upperLimit1); __m128 lowMinApplied = _mm_sub_ps(lowerLimit1,cpAppliedImp); deltaImpulse = _mm_or_ps( _mm_and_ps(resultLowerLess, lowMinApplied), _mm_andnot_ps(resultLowerLess, deltaImpulse) ); - c.m_appliedImpulse = _mm_or_ps( _mm_and_ps(resultLowerLess, lowerLimit1), _mm_andnot_ps(resultLowerLess, sum) ); + c.m_appliedPushImpulse = _mm_or_ps( _mm_and_ps(resultLowerLess, lowerLimit1), _mm_andnot_ps(resultLowerLess, sum) ); __m128 linearComponentA = _mm_mul_ps(c.m_contactNormal.mVec128,body1.internalGetInvMass().mVec128); __m128 linearComponentB = _mm_mul_ps((c.m_contactNormal).mVec128,body2.internalGetInvMass().mVec128); __m128 impulseMagnitude = deltaImpulse;