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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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14
src/BulletCollision/CollisionDispatch/btCollisionObject.h
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@@ -101,28 +101,28 @@ public:
};
inline bool mergesSimulationIslands() const
SIMD_FORCE_INLINE bool mergesSimulationIslands() const
{
///static objects, kinematic and object without contact response don't merge islands
return ((m_collisionFlags & (CF_STATIC_OBJECT | CF_KINEMATIC_OBJECT | CF_NO_CONTACT_RESPONSE) )==0);
}
inline bool isStaticObject() const {
SIMD_FORCE_INLINE bool isStaticObject() const {
return (m_collisionFlags & CF_STATIC_OBJECT) != 0;
}
inline bool isKinematicObject() const
SIMD_FORCE_INLINE bool isKinematicObject() const
{
return (m_collisionFlags & CF_KINEMATIC_OBJECT) != 0;
}
inline bool isStaticOrKinematicObject() const
SIMD_FORCE_INLINE bool isStaticOrKinematicObject() const
{
return (m_collisionFlags & (CF_KINEMATIC_OBJECT | CF_STATIC_OBJECT)) != 0 ;
}
inline bool hasContactResponse() const {
SIMD_FORCE_INLINE bool hasContactResponse() const {
return (m_collisionFlags & CF_NO_CONTACT_RESPONSE)==0;
}
@@ -136,12 +136,12 @@ public:
m_collisionShape = collisionShape;
}
inline const btCollisionShape* getCollisionShape() const
SIMD_FORCE_INLINE const btCollisionShape* getCollisionShape() const
{
return m_collisionShape;
}
inline btCollisionShape* getCollisionShape()
SIMD_FORCE_INLINE btCollisionShape* getCollisionShape()
{
return m_collisionShape;
}

4
src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h
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@@ -55,11 +55,11 @@ int m_triangleCount;
void clearCache();
inline const btVector3& getAabbMin() const
SIMD_FORCE_INLINE const btVector3& getAabbMin() const
{
return m_aabbMin;
}
inline const btVector3& getAabbMax() const
SIMD_FORCE_INLINE const btVector3& getAabbMax() const
{
return m_aabbMax;
}

4
src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp
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@@ -109,8 +109,8 @@ btScalar btSphereBoxCollisionAlgorithm::getSphereDistance(btCollisionObject* box
btVector3 bounds[2];
btBoxShape* boxShape= (btBoxShape*)boxObj->getCollisionShape();
bounds[0] = -boxShape->getHalfExtents();
bounds[1] = boxShape->getHalfExtents();
bounds[0] = -boxShape->getHalfExtentsWithoutMargin();
bounds[1] = boxShape->getHalfExtentsWithoutMargin();
margins = boxShape->getMargin();//also add sphereShape margin?

4
src/BulletCollision/CollisionDispatch/btUnionFind.h
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@@ -46,11 +46,11 @@ class btUnionFind
void reset(int N);
inline int getNumElements() const
SIMD_FORCE_INLINE int getNumElements() const
{
return int(m_elements.size());
}
inline bool isRoot(int x) const
SIMD_FORCE_INLINE bool isRoot(int x) const
{
return (x == m_elements[x].m_id);
}