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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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26
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
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@@ -412,7 +412,7 @@ void btDiscreteDynamicsWorld::removeVehicle(btRaycastVehicle* vehicle)
m_vehicles.remove(vehicle);
}
inline int btGetConstraintIslandId(const btTypedConstraint* lhs)
SIMD_FORCE_INLINE int btGetConstraintIslandId(const btTypedConstraint* lhs)
{
int islandId;
@@ -866,10 +866,24 @@ void btDiscreteDynamicsWorld::debugDrawObject(const btTransform& worldTransform,
btScalar radius = coneShape->getRadius();//+coneShape->getMargin();
btScalar height = coneShape->getHeight();//+coneShape->getMargin();
btVector3 start = worldTransform.getOrigin();
getDebugDrawer()->drawLine(start+worldTransform.getBasis() * btVector3(btScalar(0.),btScalar(0.),btScalar(0.5)*height),start+worldTransform.getBasis() * btVector3(radius,btScalar(0.),btScalar(-0.5)*height),color);
getDebugDrawer()->drawLine(start+worldTransform.getBasis() * btVector3(btScalar(0.),btScalar(0.),btScalar(0.5)*height),start+worldTransform.getBasis() * btVector3(-radius,btScalar(0.),btScalar(-0.5)*height),color);
getDebugDrawer()->drawLine(start+worldTransform.getBasis() * btVector3(btScalar(0.),btScalar(0.),btScalar(0.5)*height),start+worldTransform.getBasis() * btVector3(btScalar(0.),radius,btScalar(-0.5)*height),color);
getDebugDrawer()->drawLine(start+worldTransform.getBasis() * btVector3(btScalar(0.),btScalar(0.),btScalar(0.5)*height),start+worldTransform.getBasis() * btVector3(btScalar(0.),-radius,btScalar(-0.5)*height),color);
int upAxis= coneShape->getConeUpIndex();
btVector3 offsetHeight(0,0,0);
offsetHeight[upAxis] = height * btScalar(0.5);
btVector3 offsetRadius(0,0,0);
offsetRadius[(upAxis+1)%3] = radius;
btVector3 offset2Radius(0,0,0);
offset2Radius[(upAxis+2)%3] = radius;
getDebugDrawer()->drawLine(start+worldTransform.getBasis() * (offsetHeight),start+worldTransform.getBasis() * (-offsetHeight+offsetRadius),color);
getDebugDrawer()->drawLine(start+worldTransform.getBasis() * (offsetHeight),start+worldTransform.getBasis() * (-offsetHeight-offsetRadius),color);
getDebugDrawer()->drawLine(start+worldTransform.getBasis() * (offsetHeight),start+worldTransform.getBasis() * (-offsetHeight+offset2Radius),color);
getDebugDrawer()->drawLine(start+worldTransform.getBasis() * (offsetHeight),start+worldTransform.getBasis() * (-offsetHeight-offset2Radius),color);
break;
}
@@ -878,7 +892,7 @@ void btDiscreteDynamicsWorld::debugDrawObject(const btTransform& worldTransform,
const btCylinderShape* cylinder = static_cast<const btCylinderShape*>(shape);
int upAxis = cylinder->getUpAxis();
btScalar radius = cylinder->getRadius();
btScalar halfHeight = cylinder->getHalfExtents()[upAxis];
btScalar halfHeight = cylinder->getHalfExtentsWithMargin()[upAxis];
btVector3 start = worldTransform.getOrigin();
btVector3 offsetHeight(0,0,0);
offsetHeight[upAxis] = halfHeight;