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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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10
src/BulletCollision/CollisionShapes/btCollisionShape.h
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@@ -49,26 +49,26 @@ public:
#ifndef __SPU__
inline bool isPolyhedral() const
SIMD_FORCE_INLINE bool isPolyhedral() const
{
return btBroadphaseProxy::isPolyhedral(getShapeType());
}
inline bool isConvex() const
SIMD_FORCE_INLINE bool isConvex() const
{
return btBroadphaseProxy::isConvex(getShapeType());
}
inline bool isConcave() const
SIMD_FORCE_INLINE bool isConcave() const
{
return btBroadphaseProxy::isConcave(getShapeType());
}
inline bool isCompound() const
SIMD_FORCE_INLINE bool isCompound() const
{
return btBroadphaseProxy::isCompound(getShapeType());
}
///isInfinite is used to catch simulation error (aabb check)
inline bool isInfinite() const
SIMD_FORCE_INLINE bool isInfinite() const
{
return btBroadphaseProxy::isInfinite(getShapeType());
}