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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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12
src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h
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@@ -98,7 +98,7 @@ BT_DECLARE_ALIGNED_ALLOCATOR();
};
int m_uniqueId;//m_uniqueId is introduced for paircache. could get rid of this, by calculating the address offset etc.
inline int getUid()
SIMD_FORCE_INLINE int getUid()
{
return m_uniqueId;//(int)this;
}
@@ -115,26 +115,26 @@ BT_DECLARE_ALIGNED_ALLOCATOR();
static inline bool isPolyhedral(int proxyType)
static SIMD_FORCE_INLINE bool isPolyhedral(int proxyType)
{
return (proxyType < IMPLICIT_CONVEX_SHAPES_START_HERE);
}
static inline bool isConvex(int proxyType)
static SIMD_FORCE_INLINE bool isConvex(int proxyType)
{
return (proxyType < CONCAVE_SHAPES_START_HERE);
}
static inline bool isConcave(int proxyType)
static SIMD_FORCE_INLINE bool isConcave(int proxyType)
{
return ((proxyType > CONCAVE_SHAPES_START_HERE) &&
(proxyType < CONCAVE_SHAPES_END_HERE));
}
static inline bool isCompound(int proxyType)
static SIMD_FORCE_INLINE bool isCompound(int proxyType)
{
return (proxyType == COMPOUND_SHAPE_PROXYTYPE);
}
static inline bool isInfinite(int proxyType)
static SIMD_FORCE_INLINE bool isInfinite(int proxyType)
{
return (proxyType == STATIC_PLANE_PROXYTYPE);
}