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use size_t instead of int, for allocator

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added hashtable based PairManager, thanks Pierre Terdiman and Erin Catto
improved friction in 'cachefriendly' solver
moved 'refreshcontactpoints' into collision detection, instead of solver
avoid linear search for contact manifolds, by storing an index
ignore margin for sphere shape (its entire radius is already margin)
avoid alignment checks in BVH serialization, they don't compile on 64-bit architectures
made 'bomb' box more heavy
This commit is contained in:
ejcoumans
2007-10-11 03:17:54 +00:00
parent bb89cbcf08
commit 0405ce278a
36 changed files with 1485 additions and 460 deletions
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13
Extras/AlternativeCollisionAlgorithms/BoxBoxCollisionAlgorithm.cpp
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@@ -19,6 +19,8 @@ subject to the following restrictions:
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BoxBoxDetector.h"
#define USE_PERSISTENT_CONTACTS 1
BoxBoxCollisionAlgorithm::BoxBoxCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* obj0,btCollisionObject* obj1)
: btCollisionAlgorithm(ci),
m_ownManifold(false),
@@ -54,8 +56,9 @@ void BoxBoxCollisionAlgorithm::processCollision (btCollisionObject* body0,btColl
/// report a contact. internally this will be kept persistent, and contact reduction is done
resultOut->setPersistentManifold(m_manifoldPtr);
#ifndef USE_PERSISTENT_CONTACTS
m_manifoldPtr->clearManifold();
#endif //USE_PERSISTENT_CONTACTS
btDiscreteCollisionDetectorInterface::ClosestPointInput input;
input.m_maximumDistanceSquared = 1e30f;
@@ -65,6 +68,14 @@ void BoxBoxCollisionAlgorithm::processCollision (btCollisionObject* body0,btColl
BoxBoxDetector detector(box0,box1);
detector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
#ifdef USE_PERSISTENT_CONTACTS
// refreshContactPoints is only necessary when using persistent contact points. otherwise all points are newly added
if (m_ownManifold)
{
resultOut->refreshContactPoints();
}
#endif //USE_PERSISTENT_CONTACTS
}
btScalar BoxBoxCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)