Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

more work on hashed pairmanager. growing doesn't work yet, so need to allocate enough room for the overlapping pairs in advance.

Browse Source 
boxbox reports contact point in B, rather then average point
box, cylinder use halfextents corrected for scaling and margin. made the margin in this halfextents explicit in the 'getHalfExtentsWithMargin' and 'getHalfExtentsWithoutMargin'
integrated changed for ODE quickstep solver
replaced inline with SIMD_FORCE_INLINE
some minor optimizations in the btSequentialImpulseConstraintSolver

added cone drawing (for X,Y,Z cones)
This commit is contained in:
ejcoumans
2007-10-12 02:52:28 +00:00
parent 1baa61bc8d
commit eff4fe8ec8
39 changed files with 1882 additions and 1336 deletions
Download Patch File Download Diff File Expand all files Collapse all files

15
Extras/quickstep/OdeConstraintSolver.cpp
View File

@@ -58,15 +58,6 @@ class BU_Joint;
//see below
//to bridge with ODE quickstep, we make a temp copy of the rigidbodies in each simultion island
// Remotion 10.10.07: we do not need thi any more!
//#define ODE_MAX_SOLVER_BODIES 16384
//#define ODE_MAX_SOLVER_JOINTS 65535
//static OdeSolverBody gSolverBodyArray[ODE_MAX_SOLVER_BODIES];
//static ContactJoint gJointArray[ODE_MAX_SOLVER_JOINTS];
//static OdeTypedJoint gTypedJointArray[ODE_MAX_SOLVER_JOINTS];
OdeConstraintSolver::OdeConstraintSolver():
m_cfm(0.f),//1e-5f),
@@ -84,7 +75,6 @@ btScalar OdeConstraintSolver::solveGroup(btCollisionObject** bodies,int numBulle
m_CurJoint = 0;
m_CurTypedJoint = 0;
// Remotion 10.10.07: to be sure just find max_contacts
int max_contacts = 0; /// should be 4 //Remotion
for (int j=0;j<numManifolds;j++){
btPersistentManifold* manifold = manifoldPtr[j];
@@ -138,7 +128,7 @@ btScalar OdeConstraintSolver::solveGroup(btCollisionObject** bodies,int numBulle
END_PROFILE("prepareConstraints");
BEGIN_PROFILE("solveConstraints");
SolveInternal1(m_cfm,m_erp,m_odeBodies,numBodies,m_joints,numJoints,infoGlobal);
m_SorLcpSolver.SolveInternal1(m_cfm,m_erp,m_odeBodies,numBodies,m_joints,numJoints,infoGlobal,stackAlloc); ///do
//write back resulting velocities
for (int i=0;i<numBodies;i++)
@@ -278,11 +268,8 @@ void OdeConstraintSolver::ConvertConstraint(btPersistentManifold* manifold,
{
///refresh contact points is not needed anymore, it has been moved into the processCollision detection part.
#ifdef FORCE_REFESH_CONTACT_MANIFOLDS
manifold->refreshContactPoints(((btRigidBody*)manifold->getBody0())->getCenterOfMassTransform(),
((btRigidBody*)manifold->getBody1())->getCenterOfMassTransform());
#endif //FORCE_REFESH_CONTACT_MANIFOLDS
int bodyId0 = _bodyId0,bodyId1 = _bodyId1;