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

9
src/BulletCollision/CollisionShapes/btBoxShape.cpp
View File

@@ -15,16 +15,13 @@ subject to the following restrictions:
#include "btBoxShape.h"
btVector3 btBoxShape::getHalfExtents() const
{
return m_implicitShapeDimensions * m_localScaling;
}
//{
void btBoxShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
{
btVector3 halfExtents = getHalfExtents();
const btVector3& halfExtents = getHalfExtentsWithoutMargin();
btMatrix3x3 abs_b = t.getBasis().absolute();
btPoint3 center = t.getOrigin();
@@ -43,7 +40,7 @@ void btBoxShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabb
void btBoxShape::calculateLocalInertia(btScalar mass,btVector3& inertia)
{
//btScalar margin = btScalar(0.);
btVector3 halfExtents = getHalfExtents();
btVector3 halfExtents = getHalfExtentsWithMargin();
btScalar lx=btScalar(2.)*(halfExtents.x());
btScalar ly=btScalar(2.)*(halfExtents.y());