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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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16
src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h
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@@ -115,11 +115,23 @@ public:
}
void replaceContactPoint(const btManifoldPoint& newPoint,int insertIndex)
{
assert(validContactDistance(newPoint));
btAssert(validContactDistance(newPoint));
clearUserCache(m_pointCache[insertIndex]);
#define MAINTAIN_PERSISTENCY 1
#ifdef MAINTAIN_PERSISTENCY
int lifeTime = m_pointCache[insertIndex].getLifeTime();
btAssert(lifeTime>=0);
void* cache = m_pointCache[insertIndex].m_userPersistentData;
m_pointCache[insertIndex] = newPoint;
m_pointCache[insertIndex].m_userPersistentData = cache;
m_pointCache[insertIndex].m_lifeTime = lifeTime;
#else
clearUserCache(m_pointCache[insertIndex]);
m_pointCache[insertIndex] = newPoint;
#endif
}
bool validContactDistance(const btManifoldPoint& pt) const