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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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17
src/BulletDynamics/ConstraintSolver/btSolverBody.h
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@@ -27,22 +27,22 @@ class btRigidBody;
ATTRIBUTE_ALIGNED16 (struct) btSolverBody
{
BT_DECLARE_ALIGNED_ALLOCATOR();
btVector3 m_centerOfMassPosition;
btVector3 m_linearVelocity;
btVector3 m_angularVelocity;
btRigidBody* m_originalBody;
float m_angularFactor;
float m_invMass;
float m_friction;
float m_angularFactor;
inline void getVelocityInLocalPoint(const btVector3& rel_pos, btVector3& velocity ) const
btRigidBody* m_originalBody;
btVector3 m_linearVelocity;
btVector3 m_centerOfMassPosition;
SIMD_FORCE_INLINE void getVelocityInLocalPoint(const btVector3& rel_pos, btVector3& velocity ) const
{
velocity = m_linearVelocity + m_angularVelocity.cross(rel_pos);
}
//Optimization for the iterative solver: avoid calculating constant terms involving inertia, normal, relative position
inline void internalApplyImpulse(const btVector3& linearComponent, const btVector3& angularComponent,btScalar impulseMagnitude)
SIMD_FORCE_INLINE void internalApplyImpulse(const btVector3& linearComponent, const btVector3& angularComponent,btScalar impulseMagnitude)
{
m_linearVelocity += linearComponent*impulseMagnitude;
m_angularVelocity += angularComponent*(impulseMagnitude*m_angularFactor);
@@ -54,6 +54,7 @@ ATTRIBUTE_ALIGNED16 (struct) btSolverBody
{
m_originalBody->setLinearVelocity(m_linearVelocity);
m_originalBody->setAngularVelocity(m_angularVelocity);
//m_originalBody->setCompanionId(-1);
}
}