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updated quickstep solver (for comparison), enabled GPU physics again (but WIN32 doesn't have the VertexTextureSupport enabled)

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ejcoumans
2006-10-13 23:58:52 +00:00
parent 2c66be25fc
commit d878885db4
18 changed files with 890 additions and 83 deletions
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22
Extras/quickstep/OdeConstraintSolver.cpp
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@@ -54,8 +54,12 @@ class BU_Joint;
//see below
//to bridge with ODE quickstep, we make a temp copy of the rigidbodies in each simultion island, stored in an array of size MAX_RIGIDBODIES
#define MAX_QUICKSTEP_RIGIDBODIES 8192
//to bridge with ODE quickstep, we make a temp copy of the rigidbodies in each simultion island
#define ODE_MAX_SOLVER_BODIES 16384
#define ODE_MAX_SOLVER_JOINTS 65535
static OdeSolverBody gSolverBodyArray[ODE_MAX_SOLVER_BODIES];
static ContactJoint gJointArray[ODE_MAX_SOLVER_JOINTS];
OdeConstraintSolver::OdeConstraintSolver():
m_cfm(0.f),//1e-5f),
@@ -65,10 +69,6 @@ m_erp(0.4f)
//iterative lcp and penalty method
float OdeConstraintSolver::solveGroup(btPersistentManifold** manifoldPtr, int numManifolds,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer)
{
@@ -76,9 +76,9 @@ float OdeConstraintSolver::solveGroup(btPersistentManifold** manifoldPtr, int nu
m_CurJoint = 0;
int numBodies = 0;
OdeSolverBody* odeBodies [MAX_QUICKSTEP_RIGIDBODIES];
OdeSolverBody* odeBodies [ODE_MAX_SOLVER_BODIES];
int numJoints = 0;
BU_Joint* joints [MAX_QUICKSTEP_RIGIDBODIES*4];
BU_Joint* joints [ODE_MAX_SOLVER_JOINTS];
for (int j=0;j<numManifolds;j++)
{
@@ -138,8 +138,6 @@ void dRfromQ1 (dMatrix3 R, const dQuaternion q)
}
#define ODE_MAX_SOLVER_BODIES 16384
static OdeSolverBody gSolverBodyArray[ODE_MAX_SOLVER_BODIES];
int OdeConstraintSolver::ConvertBody(btRigidBody* orgBody,OdeSolverBody** bodies,int& numBodies)
@@ -208,8 +206,8 @@ int OdeConstraintSolver::ConvertBody(btRigidBody* orgBody,OdeSolverBody** bodies
#define ODE_MAX_SOLVER_JOINTS 65535
static ContactJoint gJointArray[ODE_MAX_SOLVER_JOINTS];
void OdeConstraintSolver::ConvertConstraint(btPersistentManifold* manifold,BU_Joint** joints,int& numJoints,