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improved performance, and allowed custom friction and contact solver models. See CcdPhysicsDemo #define USER_DEFINED_FRICTION_MODEL

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This commit is contained in:
ejcoumans
2006-09-20 00:49:33 +00:00
parent dad2cb634e
commit 5ed0cf5b7f
15 changed files with 211 additions and 56 deletions
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29
Bullet/BroadphaseCollision/OverlappingPairCache.cpp
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@@ -21,11 +21,11 @@ subject to the following restrictions:
#include "Dispatcher.h"
#include "CollisionAlgorithm.h"
int gOverlappingPairs = 0;
OverlappingPairCache::OverlappingPairCache(int maxOverlap):
m_blockedForChanges(false),
//m_NumOverlapBroadphasePair(0),
m_maxOverlap(maxOverlap)
OverlappingPairCache::OverlappingPairCache():
m_blockedForChanges(false)
//m_NumOverlapBroadphasePair(0)
{
}
@@ -36,14 +36,17 @@ OverlappingPairCache::~OverlappingPairCache()
}
void OverlappingPairCache::RemoveOverlappingPair(BroadphasePair& pair)
void OverlappingPairCache::RemoveOverlappingPair(BroadphasePair& findPair)
{
CleanOverlappingPair(pair);
std::set<BroadphasePair>::iterator it = m_overlappingPairSet.find(pair);
std::set<BroadphasePair>::iterator it = m_overlappingPairSet.find(findPair);
// assert(it != m_overlappingPairSet.end());
if (it != m_overlappingPairSet.end())
{
gOverlappingPairs--;
BroadphasePair* pair = (BroadphasePair*)(&(*it));
CleanOverlappingPair(*pair);
m_overlappingPairSet.erase(it);
}
}
@@ -79,6 +82,7 @@ void OverlappingPairCache::AddOverlappingPair(BroadphaseProxy* proxy0,Broadphase
BroadphasePair pair(*proxy0,*proxy1);
m_overlappingPairSet.insert(pair);
gOverlappingPairs++;
}
@@ -179,10 +183,17 @@ void OverlappingPairCache::ProcessAllOverlappingPairs(OverlapCallback* callback)
CleanOverlappingPair(*pair);
std::set<BroadphasePair>::iterator it2 = it;
it++;
//why does next line not compile under OS X??
//it = m_overlappingPairSet.erase(it2);
#ifdef MAC_OSX_FIXED_STL_SET
it2++;
it = m_overlappingPairSet.erase(it);
assert(it == it2);
#else
it++;
m_overlappingPairSet.erase(it2);
#endif //MAC_OSX_FIXED_STL_SET
gOverlappingPairs--;
} else
{
it++;