Bart/bullet3
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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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12
src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp
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@@ -46,6 +46,8 @@ void btSphereSphereCollisionAlgorithm::processCollision (btCollisionObject* col0
if (!m_manifoldPtr)
return;
resultOut->setPersistentManifold(m_manifoldPtr);
btSphereShape* sphere0 = (btSphereShape*)col0->getCollisionShape();
btSphereShape* sphere1 = (btSphereShape*)col1->getCollisionShape();
@@ -54,10 +56,13 @@ void btSphereSphereCollisionAlgorithm::processCollision (btCollisionObject* col0
btScalar radius0 = sphere0->getRadius();
btScalar radius1 = sphere1->getRadius();
m_manifoldPtr->clearManifold();
///iff distance positive, don't generate a new contact
if ( len > (radius0+radius1))
{
return;
}
///distance (negative means penetration)
btScalar dist = len - (radius0+radius1);
@@ -68,9 +73,12 @@ void btSphereSphereCollisionAlgorithm::processCollision (btCollisionObject* col0
btVector3 pos1 = col1->getWorldTransform().getOrigin() + radius1* normalOnSurfaceB;
/// report a contact. internally this will be kept persistent, and contact reduction is done
resultOut->setPersistentManifold(m_manifoldPtr);
resultOut->addContactPoint(normalOnSurfaceB,pos1,dist);
//no resultOut->refreshContactPoints(); needed, because of clearManifold (all points are new)
}
btScalar btSphereSphereCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)