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Remove global variable in btSequentialImpulseConstraintSolver

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This commit is contained in:
Benau 2020-02-28 09:31:02 +08:00
parent a58c443247
commit 1cb966d04d
1 changed files with 3 additions and 3 deletions
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6
lib/bullet/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
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@ -34,7 +34,7 @@ subject to the following restrictions:
#include "LinearMath/btAlignedObjectArray.h" #include "LinearMath/btAlignedObjectArray.h"
#include <string.h> //for memset #include <string.h> //for memset
int gNumSplitImpulseRecoveries = 0; //int gNumSplitImpulseRecoveries = 0;
btSequentialImpulseConstraintSolver::btSequentialImpulseConstraintSolver() btSequentialImpulseConstraintSolver::btSequentialImpulseConstraintSolver()
:m_btSeed2(0) :m_btSeed2(0)
@ -181,7 +181,7 @@ void btSequentialImpulseConstraintSolver::resolveSplitPenetrationImpulseCacheFri
{ {
if (c.m_rhsPenetration) if (c.m_rhsPenetration)
{ {
gNumSplitImpulseRecoveries++; //gNumSplitImpulseRecoveries++;
btScalar deltaImpulse = c.m_rhsPenetration-btScalar(c.m_appliedPushImpulse)*c.m_cfm; btScalar deltaImpulse = c.m_rhsPenetration-btScalar(c.m_appliedPushImpulse)*c.m_cfm;
const btScalar deltaVel1Dotn = c.m_contactNormal.dot(body1.internalGetPushVelocity()) + c.m_relpos1CrossNormal.dot(body1.internalGetTurnVelocity()); const btScalar deltaVel1Dotn = c.m_contactNormal.dot(body1.internalGetPushVelocity()) + c.m_relpos1CrossNormal.dot(body1.internalGetTurnVelocity());
const btScalar deltaVel2Dotn = -c.m_contactNormal.dot(body2.internalGetPushVelocity()) + c.m_relpos2CrossNormal.dot(body2.internalGetTurnVelocity()); const btScalar deltaVel2Dotn = -c.m_contactNormal.dot(body2.internalGetPushVelocity()) + c.m_relpos2CrossNormal.dot(body2.internalGetTurnVelocity());
@ -209,7 +209,7 @@ void btSequentialImpulseConstraintSolver::resolveSplitPenetrationImpulseCacheFri
if (!c.m_rhsPenetration) if (!c.m_rhsPenetration)
return; return;
gNumSplitImpulseRecoveries++; //gNumSplitImpulseRecoveries++;
__m128 cpAppliedImp = _mm_set1_ps(c.m_appliedPushImpulse); __m128 cpAppliedImp = _mm_set1_ps(c.m_appliedPushImpulse);
__m128 lowerLimit1 = _mm_set1_ps(c.m_lowerLimit); __m128 lowerLimit1 = _mm_set1_ps(c.m_lowerLimit);