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

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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
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8
src/BulletCollision/BroadphaseCollision/btAxisSweep3.h
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@@ -63,8 +63,8 @@ public:
//void* m_pOwner; this is now in btBroadphaseProxy.m_clientObject
inline void SetNextFree(BP_FP_INT_TYPE next) {m_minEdges[0] = next;}
inline BP_FP_INT_TYPE GetNextFree() const {return m_minEdges[0];}
SIMD_FORCE_INLINE void SetNextFree(BP_FP_INT_TYPE next) {m_minEdges[0] = next;}
SIMD_FORCE_INLINE BP_FP_INT_TYPE GetNextFree() const {return m_minEdges[0];}
}; // 24 bytes + 24 for Edge structures = 44 bytes total per entry
@@ -119,7 +119,7 @@ public:
BP_FP_INT_TYPE addHandle(const btPoint3& aabbMin,const btPoint3& aabbMax, void* pOwner,short int collisionFilterGroup,short int collisionFilterMask,btDispatcher* dispatcher);
void removeHandle(BP_FP_INT_TYPE handle,btDispatcher* dispatcher);
void updateHandle(BP_FP_INT_TYPE handle, const btPoint3& aabbMin,const btPoint3& aabbMax,btDispatcher* dispatcher);
inline Handle* getHandle(BP_FP_INT_TYPE index) const {return m_pHandles + index;}
SIMD_FORCE_INLINE Handle* getHandle(BP_FP_INT_TYPE index) const {return m_pHandles + index;}
void processAllOverlappingPairs(btOverlapCallback* callback);
@@ -344,7 +344,7 @@ BP_FP_INT_TYPE btAxisSweep3Internal<BP_FP_INT_TYPE>::addHandle(const btPoint3& a
// allocate a handle
BP_FP_INT_TYPE handle = allocHandle();
assert(handle!= 0xcdcd);
Handle* pHandle = getHandle(handle);