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use Dispatcher in ConcaveConvexCollisionAlgorithm (so it uses the registered collision algorithm, not hardcoded convexconcave)

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improved performance of constraint solver by precalculating the cross product/impulse arm
added collision comparison code: ODE box-box, also sphere-triangle
added safety check into GJK, and an assert for AABB's that are very large
write partid/triangle index outside of GJK
This commit is contained in:
ejcoumans
2006-10-28 02:06:19 +00:00
parent 7987be45c5
commit 3fe3b11924
24 changed files with 730 additions and 90 deletions
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10
src/BulletDynamics/Dynamics/btRigidBody.h
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@@ -158,6 +158,16 @@ public:
applyTorqueImpulse(rel_pos.cross(impulse));
}
}
//Optimization for the iterative solver: avoid calculating constant terms involving inertia, normal, relative position
inline void internalApplyImpulse(const btVector3& linearComponent, const btVector3& angularComponent,float impulseMagnitude)
{
if (m_inverseMass != 0.f)
{
m_linearVelocity += linearComponent*impulseMagnitude;
m_angularVelocity += angularComponent*impulseMagnitude;
}
}
void clearForces()
{