public void setConstraintRowSolverGeneric( btSingleConstraintRowSolver rowSolver )
{
m_resolveSingleConstraintRowGeneric = rowSolver;
}
public void setConstraintRowSolverLowerLimit( btSingleConstraintRowSolver rowSolver )
{
m_resolveSingleConstraintRowLowerLimit = rowSolver;
}
public btSequentialImpulseConstraintSolver()
{
m_resolveSingleConstraintRowGeneric = ( gResolveSingleConstraintRowGeneric_scalar_reference );
m_resolveSingleConstraintRowLowerLimit = ( gResolveSingleConstraintRowLowerLimit_scalar_reference );
m_btSeed2 = ( 0 );
#if USE_SIMD
m_resolveSingleConstraintRowGeneric = gResolveSingleConstraintRowGeneric_sse2;
m_resolveSingleConstraintRowLowerLimit=gResolveSingleConstraintRowLowerLimit_sse2;
#endif //USE_SIMD
#if BT_ALLOW_SSE4
int cpuFeatures = btCpuFeatureUtility::getCpuFeatures();
if ((cpuFeatures & btCpuFeatureUtility::CPU_FEATURE_FMA3) && (cpuFeatures & btCpuFeatureUtility::CPU_FEATURE_SSE4_1))
{
m_resolveSingleConstraintRowGeneric = gResolveSingleConstraintRowGeneric_sse4_1_fma3;
m_resolveSingleConstraintRowLowerLimit = gResolveSingleConstraintRowLowerLimit_sse4_1_fma3;
}
#endif//BT_ALLOW_SSE4
}
