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SequentialImpulseConstraintSolver: fix bugs with SOLVER_SIMD flag

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This commit is contained in:
Lunkhound
2017-06-10 04:21:49 -07:00
parent 444f206c7c
commit e9ec5044d1
2 changed files with 152 additions and 233 deletions
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21
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
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@@ -56,6 +56,9 @@ protected:
btSingleConstraintRowSolver m_resolveSingleConstraintRowGeneric;
btSingleConstraintRowSolver m_resolveSingleConstraintRowLowerLimit;
btSingleConstraintRowSolver m_resolveSplitPenetrationImpulse;
int m_cachedSolverMode; // used to check if SOLVER_SIMD flag has been changed
void setupSolverFunctions( bool useSimd );
btScalar m_leastSquaresResidual;
@@ -93,13 +96,15 @@ protected:
void convertContact(btPersistentManifold* manifold,const btContactSolverInfo& infoGlobal);
btSimdScalar resolveSplitPenetrationSIMD(
btSolverBody& bodyA,btSolverBody& bodyB,
const btSolverConstraint& contactConstraint);
btSimdScalar resolveSplitPenetrationSIMD(btSolverBody& bodyA,btSolverBody& bodyB, const btSolverConstraint& contactConstraint)
{
return m_resolveSplitPenetrationImpulse( bodyA, bodyB, contactConstraint );
}
btScalar resolveSplitPenetrationImpulseCacheFriendly(
btSolverBody& bodyA,btSolverBody& bodyB,
const btSolverConstraint& contactConstraint);
btSimdScalar resolveSplitPenetrationImpulseCacheFriendly(btSolverBody& bodyA,btSolverBody& bodyB, const btSolverConstraint& contactConstraint)
{
return m_resolveSplitPenetrationImpulse( bodyA, bodyB, contactConstraint );
}
//internal method
int getOrInitSolverBody(btCollisionObject& body,btScalar timeStep);
@@ -109,6 +114,10 @@ protected:
btSimdScalar resolveSingleConstraintRowGenericSIMD(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint);
btSimdScalar resolveSingleConstraintRowLowerLimit(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint);
btSimdScalar resolveSingleConstraintRowLowerLimitSIMD(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint);
btSimdScalar resolveSplitPenetrationImpulse(btSolverBody& bodyA,btSolverBody& bodyB, const btSolverConstraint& contactConstraint)
{
return m_resolveSplitPenetrationImpulse( bodyA, bodyB, contactConstraint );
}
protected: