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fix GPU solver (need to clear .w component because "m_linear" contains friction coefficient

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added a mixed solver to find bugs like that
This commit is contained in:
erwin coumans
2013-04-02 14:53:30 -07:00
parent 1ebcc78280
commit e38c032280
13 changed files with 456 additions and 13 deletions
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opencl/gpu_rigidbody/host/btGpuJacobiSolver.h
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@@ -46,6 +46,7 @@ public:
void solveGroupHost(btRigidBodyCL* bodies,btInertiaCL* inertias,int numBodies,btContact4* manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btJacobiSolverInfo& solverInfo);
void solveGroup(btOpenCLArray<btRigidBodyCL>* bodies,btOpenCLArray<btInertiaCL>* inertias,btOpenCLArray<btContact4>* manifoldPtr,const btJacobiSolverInfo& solverInfo);
void solveGroupMixed(btOpenCLArray<btRigidBodyCL>* bodies,btOpenCLArray<btInertiaCL>* inertias,btOpenCLArray<btContact4>* manifoldPtr,const btJacobiSolverInfo& solverInfo);
};
#endif //BT_GPU_JACOBI_SOLVER_H