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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/BulletDynamics/ConstraintSolver/btSolverConstraint.h
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@@ -30,20 +30,24 @@ ATTRIBUTE_ALIGNED16 (struct) btSolverConstraint
BT_DECLARE_ALIGNED_ALLOCATOR();
btVector3 m_relpos1CrossNormal;
btVector3 m_relpos2CrossNormal;
btVector3 m_contactNormal;
btVector3 m_angularComponentA;
btVector3 m_angularComponentB;
btScalar m_appliedVelocityImpulse;
btVector3 m_relpos2CrossNormal;
btVector3 m_angularComponentA;
btVector3 m_angularComponentB;
mutable btScalar m_appliedVelocityImpulse;
mutable btScalar m_appliedImpulse;
int m_solverBodyIdA;
int m_solverBodyIdB;
btScalar m_friction;
btScalar m_restitution;
btScalar m_jacDiagABInv;
btScalar m_penetration;
btScalar m_appliedImpulse;
int m_constraintType;
int m_frictionIndex;
int m_unusedPadding[2];