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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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4
Extras/BulletMultiThreaded/SpuParallelSolver.cpp
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@@ -109,7 +109,8 @@ btScalar btParallelSequentialImpulseSolver::solveGroup(btCollisionObject** bodie
{
if (!numManifolds && !numConstraints)
return 0;
///refresh contact points is not needed anymore, it has been moved into the processCollision detection part.
#ifdef FORCE_REFESH_CONTACT_MANIFOLDS
for (int i = 0; i < numManifolds; ++i)
{
btPersistentManifold* currManifold = manifold[i];
@@ -118,6 +119,7 @@ btScalar btParallelSequentialImpulseSolver::solveGroup(btCollisionObject** bodie
currManifold->refreshContactPoints(rb0->getCenterOfMassTransform(),rb1->getCenterOfMassTransform());
}
#endif //FORCE_REFESH_CONTACT_MANIFOLDS
// Record and mark the manifolds to the cells
for (int i = 0; i < numManifolds; ++i)