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small cleanup in the DemoApplication, removed references to obsolete PHY_ShapeProps/PHY_MaterialProps

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removed deletion of motionstate in CcdPhysics/CcdPhysicsController destructor
disabled m_type optimization in SimdTransform (making the memory size 64 byte, potentially more cache friendly)
fixed a bug in island generation, causing the activation not propagating in one frame, but one 'layer' of rigidbodies at a time
This commit is contained in:
ejcoumans
2006-09-26 18:59:29 +00:00
parent 0e04cfc806
commit 37a53ee7d9
8 changed files with 100 additions and 86 deletions
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48
src/BulletDynamics/Dynamics/btRigidBody.h
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@@ -37,6 +37,24 @@ extern bool gUseEpa;
///
class RigidBody : public CollisionObject
{
SimdMatrix3x3 m_invInertiaTensorWorld;
SimdVector3 m_linearVelocity;
SimdVector3 m_angularVelocity;
SimdScalar m_inverseMass;
SimdVector3 m_gravity;
SimdVector3 m_invInertiaLocal;
SimdVector3 m_totalForce;
SimdVector3 m_totalTorque;
SimdScalar m_linearDamping;
SimdScalar m_angularDamping;
SimdScalar m_kinematicTimeStep;
BroadphaseProxy* m_broadphaseProxy;
public:
RigidBody(const MassProps& massProps,SimdScalar linearDamping,SimdScalar angularDamping,SimdScalar friction,SimdScalar restitution);
@@ -197,29 +215,6 @@ public:
private:
SimdMatrix3x3 m_invInertiaTensorWorld;
SimdVector3 m_gravity;
SimdVector3 m_invInertiaLocal;
SimdVector3 m_totalForce;
SimdVector3 m_totalTorque;
// SimdQuaternion m_orn1;
SimdVector3 m_linearVelocity;
SimdVector3 m_angularVelocity;
SimdScalar m_linearDamping;
SimdScalar m_angularDamping;
SimdScalar m_inverseMass;
SimdScalar m_kinematicTimeStep;
BroadphaseProxy* m_broadphaseProxy;
public:
@@ -240,7 +235,8 @@ public:
int m_contactSolverType;
int m_frictionSolverType;
/*
//unused
/// for ode solver-binding
dMatrix3 m_R;//temp
dMatrix3 m_I;
@@ -250,8 +246,8 @@ public:
SimdVector3 m_tacc;//temp
SimdVector3 m_facc;
*/
int m_debugBodyId;
};