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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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10
src/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.cpp
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@@ -56,14 +56,14 @@ btMultiSapBroadphase::~btMultiSapBroadphase()
{
}
btBroadphaseProxy* btMultiSapBroadphase::createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask)
btBroadphaseProxy* btMultiSapBroadphase::createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher)
{
btMultiSapProxy* proxy = new btMultiSapProxy(aabbMin, aabbMax,shapeType,userPtr, collisionFilterGroup,collisionFilterMask);
m_multiSapProxies.push_back(proxy);
///we don't pass the userPtr but our multisap proxy. We need to patch this, before processing an actual collision
///this is needed to be able to calculate the aabb overlap
btBroadphaseProxy* simpleProxy = m_simpleBroadphase->createProxy(aabbMin,aabbMax,shapeType,userPtr,collisionFilterGroup,collisionFilterMask);
btBroadphaseProxy* simpleProxy = m_simpleBroadphase->createProxy(aabbMin,aabbMax,shapeType,userPtr,collisionFilterGroup,collisionFilterMask, dispatcher);
simpleProxy->m_multiSapParentProxy = proxy;
btChildProxy* childProxyRef = new btChildProxy();
@@ -72,7 +72,7 @@ btBroadphaseProxy* btMultiSapBroadphase::createProxy( const btVector3& aabbMin,
proxy->m_childProxies.push_back(childProxyRef);
///this should deal with inserting/removal into child broadphases
setAabb(proxy,aabbMin,aabbMax);
setAabb(proxy,aabbMin,aabbMax,dispatcher);
return proxy;
}
@@ -82,7 +82,7 @@ void btMultiSapBroadphase::destroyProxy(btBroadphaseProxy* proxy,btDispatcher* d
btAssert(0);
}
void btMultiSapBroadphase::setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax)
void btMultiSapBroadphase::setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* dispatcher)
{
btMultiSapProxy* multiProxy = static_cast<btMultiSapProxy*>(proxy);
multiProxy->m_aabbMin = aabbMin;
@@ -91,7 +91,7 @@ void btMultiSapBroadphase::setAabb(btBroadphaseProxy* proxy,const btVector3& aab
for (int i=0;i<multiProxy->m_childProxies.size();i++)
{
btChildProxy* childProxyRef = multiProxy->m_childProxies[i];
childProxyRef->m_childBroadphase->setAabb(childProxyRef->m_proxy,aabbMin,aabbMax);
childProxyRef->m_childBroadphase->setAabb(childProxyRef->m_proxy,aabbMin,aabbMax,dispatcher);
}
}