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fix double-precision support

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improve serialization, better search for SDNA1 tag
This commit is contained in:
erwin.coumans
2010-07-21 23:59:41 +00:00
parent 0d53b77e41
commit e3f4f6f1c5
3 changed files with 54 additions and 9 deletions
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4
src/BulletMultiThreaded/btParallelConstraintSolver.cpp
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@@ -99,11 +99,11 @@ void pfxSolveLinearConstraintRow(PfxConstraintRow &constraint,
float massInvB,const vmMatrix3 &inertiaInvB,const vmVector3 &rB)
{
const vmVector3 normal(btReadVector3(constraint.mNormal));
float deltaImpulse = constraint.mRhs;
btScalar deltaImpulse = constraint.mRhs;
vmVector3 dVA = deltaLinearVelocityA + cross(deltaAngularVelocityA,rA);
vmVector3 dVB = deltaLinearVelocityB + cross(deltaAngularVelocityB,rB);
deltaImpulse -= constraint.mJacDiagInv * dot(normal,dVA-dVB);
float oldImpulse = constraint.mAccumImpulse;
btScalar oldImpulse = constraint.mAccumImpulse;
constraint.mAccumImpulse = btClamped(oldImpulse + deltaImpulse,constraint.mLowerLimit,constraint.mUpperLimit);
deltaImpulse = constraint.mAccumImpulse - oldImpulse;
deltaLinearVelocityA += deltaImpulse * massInvA * normal;

25
src/BulletMultiThreaded/btParallelConstraintSolver.h
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@@ -133,6 +133,31 @@ ATTRIBUTE_ALIGNED16(struct) PfxSolverBody {
#include "SpuDispatch/BulletPE2ConstraintSolverSpursSupport.h"
#endif
static SIMD_FORCE_INLINE vmVector3 btReadVector3(const double* p)
{
float tmp[3] = {p[0],p[1],p[2]};
vmVector3 v;
loadXYZ(v, tmp);
return v;
}
static SIMD_FORCE_INLINE vmQuat btReadQuat(const double* p)
{
float tmp[4] = {p[0],p[1],p[2],p[4]};
vmQuat vq;
loadXYZW(vq, tmp);
return vq;
}
static SIMD_FORCE_INLINE void btStoreVector3(const vmVector3 &src, double* p)
{
float tmp[3];
vmVector3 v = src;
storeXYZ(v, tmp);
p[0] = tmp[0];
p[1] = tmp[1];
p[2] = tmp[2];
}
static SIMD_FORCE_INLINE vmVector3 btReadVector3(const float* p)