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[MJCF import] add custom broadphase collision filter, for MJCF/MuJoCo compatibility

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[MJCF import] improve MuJoCo importer, support collision filters
fixed a few more warnings
This commit is contained in:
Erwin Coumans
2017-01-16 08:23:49 -08:00
parent c0c4c8ba3f
commit 8e9181f85c
8 changed files with 156 additions and 24 deletions
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5
src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h
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@@ -90,7 +90,8 @@ public:
};
/// Hash-space based Pair Cache, thanks to Erin Catto, Box2D, http://www.box2d.org, and Pierre Terdiman, Codercorner, http://codercorner.com
class btHashedOverlappingPairCache : public btOverlappingPairCache
ATTRIBUTE_ALIGNED16(class) btHashedOverlappingPairCache : public btOverlappingPairCache
{
btBroadphasePairArray m_overlappingPairArray;
btOverlapFilterCallback* m_overlapFilterCallback;
@@ -103,6 +104,8 @@ protected:
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
btHashedOverlappingPairCache();
virtual ~btHashedOverlappingPairCache();