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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/CollisionShapes/btCylinderShape.cpp
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@@ -45,7 +45,7 @@ void btCylinderShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3&
}
inline btVector3 CylinderLocalSupportX(const btVector3& halfExtents,const btVector3& v)
SIMD_FORCE_INLINE btVector3 CylinderLocalSupportX(const btVector3& halfExtents,const btVector3& v)
{
const int cylinderUpAxis = 0;
const int XX = 1;
@@ -163,24 +163,24 @@ const int ZZ = 1;
btVector3 btCylinderShapeX::localGetSupportingVertexWithoutMargin(const btVector3& vec)const
{
return CylinderLocalSupportX(getHalfExtents(),vec);
return CylinderLocalSupportX(getHalfExtentsWithoutMargin(),vec);
}
btVector3 btCylinderShapeZ::localGetSupportingVertexWithoutMargin(const btVector3& vec)const
{
return CylinderLocalSupportZ(getHalfExtents(),vec);
return CylinderLocalSupportZ(getHalfExtentsWithoutMargin(),vec);
}
btVector3 btCylinderShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)const
{
return CylinderLocalSupportY(getHalfExtents(),vec);
return CylinderLocalSupportY(getHalfExtentsWithoutMargin(),vec);
}
void btCylinderShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
{
for (int i=0;i<numVectors;i++)
{
supportVerticesOut[i] = CylinderLocalSupportY(getHalfExtents(),vectors[i]);
supportVerticesOut[i] = CylinderLocalSupportY(getHalfExtentsWithoutMargin(),vectors[i]);
}
}
@@ -188,7 +188,7 @@ void btCylinderShapeZ::batchedUnitVectorGetSupportingVertexWithoutMargin(const b
{
for (int i=0;i<numVectors;i++)
{
supportVerticesOut[i] = CylinderLocalSupportZ(getHalfExtents(),vectors[i]);
supportVerticesOut[i] = CylinderLocalSupportZ(getHalfExtentsWithoutMargin(),vectors[i]);
}
}
@@ -199,7 +199,7 @@ void btCylinderShapeX::batchedUnitVectorGetSupportingVertexWithoutMargin(const b
{
for (int i=0;i<numVectors;i++)
{
supportVerticesOut[i] = CylinderLocalSupportX(getHalfExtents(),vectors[i]);
supportVerticesOut[i] = CylinderLocalSupportX(getHalfExtentsWithoutMargin(),vectors[i]);
}
}