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Added preparation for GPU hardware accelerated solvers for BulletSoftBody (OpenCL and DirectCompute backends will follow)

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Added assert to check for positive masses in btCompoundShape::calculatePrincipalAxisTransform, see Issue 399
Fixes for LLVM/GCC compilation issue in btSequentialImpulseConstraintSolver
(Untested) fix for Linux 64bit compilation Issue 409
This commit is contained in:
erwin.coumans
2010-07-16 23:26:25 +00:00
parent 13d9441f30
commit b3f081fc85
21 changed files with 834 additions and 175 deletions
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6
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
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@@ -539,7 +539,7 @@ void btSequentialImpulseConstraintSolver::setupContactConstraint(btSolverConstra
if (rb0)
rb0->internalApplyImpulse(solverConstraint.m_contactNormal*rb0->getInvMass()*rb0->getLinearFactor(),solverConstraint.m_angularComponentA,solverConstraint.m_appliedImpulse);
if (rb1)
rb1->internalApplyImpulse(solverConstraint.m_contactNormal*rb1->getInvMass()*rb1->getLinearFactor(),-solverConstraint.m_angularComponentB,-solverConstraint.m_appliedImpulse);
rb1->internalApplyImpulse(solverConstraint.m_contactNormal*rb1->getInvMass()*rb1->getLinearFactor(),-solverConstraint.m_angularComponentB,-(btScalar)solverConstraint.m_appliedImpulse);
} else
{
solverConstraint.m_appliedImpulse = 0.f;
@@ -598,7 +598,7 @@ void btSequentialImpulseConstraintSolver::setFrictionConstraintImpulse( btSolver
if (rb0)
rb0->internalApplyImpulse(frictionConstraint1.m_contactNormal*rb0->getInvMass()*rb0->getLinearFactor(),frictionConstraint1.m_angularComponentA,frictionConstraint1.m_appliedImpulse);
if (rb1)
rb1->internalApplyImpulse(frictionConstraint1.m_contactNormal*rb1->getInvMass()*rb1->getLinearFactor(),-frictionConstraint1.m_angularComponentB,-frictionConstraint1.m_appliedImpulse);
rb1->internalApplyImpulse(frictionConstraint1.m_contactNormal*rb1->getInvMass()*rb1->getLinearFactor(),-frictionConstraint1.m_angularComponentB,-(btScalar)frictionConstraint1.m_appliedImpulse);
} else
{
frictionConstraint1.m_appliedImpulse = 0.f;
@@ -614,7 +614,7 @@ void btSequentialImpulseConstraintSolver::setFrictionConstraintImpulse( btSolver
if (rb0)
rb0->internalApplyImpulse(frictionConstraint2.m_contactNormal*rb0->getInvMass(),frictionConstraint2.m_angularComponentA,frictionConstraint2.m_appliedImpulse);
if (rb1)
rb1->internalApplyImpulse(frictionConstraint2.m_contactNormal*rb1->getInvMass(),-frictionConstraint2.m_angularComponentB,-frictionConstraint2.m_appliedImpulse);
rb1->internalApplyImpulse(frictionConstraint2.m_contactNormal*rb1->getInvMass(),-frictionConstraint2.m_angularComponentB,-(btScalar)frictionConstraint2.m_appliedImpulse);
} else
{
frictionConstraint2.m_appliedImpulse = 0.f;