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fix linux build

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This commit is contained in:
erwin coumans 2013-07-09 11:36:21 -07:00
parent bd2cd7b2a7
commit 38bfcc859b
1 changed files with 7 additions and 7 deletions
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14
src/Bullet3OpenCL/RigidBody/b3GpuPgsJacobiSolver.cpp
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@ -587,27 +587,27 @@ __inline void internalApplyImpulse( b3GpuSolverBody* body, const b3Vector3& lin
void resolveSingleConstraintRowGeneric2( b3GpuSolverBody* body1, b3GpuSolverBody* body2, b3SolverConstraint* c)
{
float deltaImpulse = c->m_rhs-c->m_appliedImpulse.x*c->m_cfm;
float deltaImpulse = c->m_rhs-b3Scalar(c->m_appliedImpulse)*c->m_cfm;
float deltaVel1Dotn = b3Dot(c->m_contactNormal,body1->m_deltaLinearVelocity) + b3Dot(c->m_relpos1CrossNormal,body1->m_deltaAngularVelocity);
float deltaVel2Dotn = -b3Dot(c->m_contactNormal,body2->m_deltaLinearVelocity) + b3Dot(c->m_relpos2CrossNormal,body2->m_deltaAngularVelocity);
deltaImpulse -= deltaVel1Dotn*c->m_jacDiagABInv;
deltaImpulse -= deltaVel2Dotn*c->m_jacDiagABInv;
float sum = c->m_appliedImpulse.x + deltaImpulse;
float sum = b3Scalar(c->m_appliedImpulse) + deltaImpulse;
if (sum < c->m_lowerLimit)
{
deltaImpulse = c->m_lowerLimit-c->m_appliedImpulse.x;
c->m_appliedImpulse.x = c->m_lowerLimit;
deltaImpulse = c->m_lowerLimit-b3Scalar(c->m_appliedImpulse);
c->m_appliedImpulse = c->m_lowerLimit;
}
else if (sum > c->m_upperLimit)
{
deltaImpulse = c->m_upperLimit-c->m_appliedImpulse.x;
c->m_appliedImpulse.x = c->m_upperLimit;
deltaImpulse = c->m_upperLimit-b3Scalar(c->m_appliedImpulse);
c->m_appliedImpulse = c->m_upperLimit;
}
else
{
c->m_appliedImpulse.x = sum;
c->m_appliedImpulse = sum;
}
internalApplyImpulse(body1,c->m_contactNormal*body1->m_invMass,c->m_angularComponentA,deltaImpulse);