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added parallel solver (work in progress) and made modifications to demo/constraints to allow for getting the type without using virtual functions (needed on CELL SPU processors)

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ejcoumans
2007-08-12 17:27:33 +00:00
parent 37e2b3db0a
commit ec22825e65
22 changed files with 1878 additions and 1018 deletions
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11
src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp
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@@ -74,8 +74,9 @@ int btSimpleDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps, b
btContactSolverInfo infoGlobal;
infoGlobal.m_timeStep = timeStep;
m_constraintSolver->prepareSolve(0,numManifolds);
m_constraintSolver->solveGroup(0,0,manifoldPtr, numManifolds,0,0,infoGlobal,m_debugDrawer, m_stackAlloc);
m_constraintSolver->allSolved(infoGlobal,m_debugDrawer, m_stackAlloc);
}
///integrate transforms
@@ -210,7 +211,7 @@ void btSimpleDynamicsWorld::setConstraintSolver(btConstraintSolver* solver)
m_constraintSolver = solver;
}
btConstraintSolver* btSimpleDynamicsWorld::getConstraintSolver()
{
return m_constraintSolver;
}
btConstraintSolver* btSimpleDynamicsWorld::getConstraintSolver()
{
return m_constraintSolver;
}