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prepare and added constraint solver optimizations, not activated yet.

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This commit is contained in:
ejcoumans
2007-03-17 00:09:12 +00:00
parent ea97ed3e30
commit 151cd4b9da
21 changed files with 897 additions and 56 deletions
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19
src/BulletCollision/CollisionDispatch/btManifoldResult.cpp
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@@ -63,15 +63,22 @@ void btManifoldResult::addContactPoint(const btVector3& normalOnBInWorld,const b
bool isSwapped = m_manifoldPtr->getBody0() != m_body0;
btTransform transAInv = isSwapped? m_rootTransB.inverse() : m_rootTransA.inverse();
btTransform transBInv = isSwapped? m_rootTransA.inverse() : m_rootTransB.inverse();
btVector3 pointA = pointInWorld + normalOnBInWorld * depth;
btVector3 localA = transAInv(pointA );
btVector3 localB = transBInv(pointInWorld);
btManifoldPoint newPt(localA,localB,normalOnBInWorld,depth);
btVector3 localA;
btVector3 localB;
if (isSwapped)
{
localA = m_rootTransB.invXform(pointA );
localB = m_rootTransA.invXform(pointInWorld);
} else
{
localA = m_rootTransA.invXform(pointA );
localB = m_rootTransB.invXform(pointInWorld);
}
btManifoldPoint newPt(localA,localB,normalOnBInWorld,depth);
int insertIndex = m_manifoldPtr->getCacheEntry(newPt);