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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/kernels/solveFriction.cl
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@@ -237,7 +237,7 @@ void setLinearAndAngular( float4 n, float4 r0, float4 r1, float4* linear, float4
void setLinearAndAngular( float4 n, float4 r0, float4 r1, float4* linear, float4* angular0, float4* angular1)
{
*linear = -n;
*linear = mymake_float4(-n.xyz,0.f);
*angular0 = -cross3(r0, n);
*angular1 = cross3(r1, n);
}