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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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9
Extras/quickstep/SorLcp.cpp
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@@ -25,10 +25,7 @@
#ifdef USE_SOR_SOLVER
// SOR LCP taken from ode quickstep,
// todo: write own successive overrelaxation gauss-seidel, or jacobi iterative solver
// SOR LCP taken from ode quickstep, for comparisons to Bullet sequential impulse solver.
#include "LinearMath/btScalar.h"
#include "BulletDynamics/Dynamics/btRigidBody.h"
@@ -648,8 +645,8 @@ void SolveInternal1 (float global_cfm,
dMULTIPLY2_333 (tmp,body[i]->m_invI,body[i]->m_R);
dMULTIPLY0_333 (invI+i*12,body[i]->m_R,tmp);
// compute rotational force
dMULTIPLY0_331 (tmp,I+i*12,body[i]->m_angularVelocity);
dCROSS (body[i]->m_tacc,-=,body[i]->m_angularVelocity,tmp);
// dMULTIPLY0_331 (tmp,I+i*12,body[i]->m_angularVelocity);
// dCROSS (body[i]->m_tacc,-=,body[i]->m_angularVelocity,tmp);
}