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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/Dynamics/btRigidBody.h
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@@ -111,11 +111,11 @@ public:
void setDamping(btScalar lin_damping, btScalar ang_damping);
inline const btCollisionShape* getCollisionShape() const {
SIMD_FORCE_INLINE const btCollisionShape* getCollisionShape() const {
return m_collisionShape;
}
inline btCollisionShape* getCollisionShape() {
SIMD_FORCE_INLINE btCollisionShape* getCollisionShape() {
return m_collisionShape;
}
@@ -185,7 +185,7 @@ public:
}
//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)
{
if (m_inverseMass != btScalar(0.))
{
@@ -255,7 +255,7 @@ public:
inline btScalar computeImpulseDenominator(const btPoint3& pos, const btVector3& normal) const
SIMD_FORCE_INLINE btScalar computeImpulseDenominator(const btPoint3& pos, const btVector3& normal) const
{
btVector3 r0 = pos - getCenterOfMassPosition();
@@ -267,13 +267,13 @@ public:
}
inline btScalar computeAngularImpulseDenominator(const btVector3& axis) const
SIMD_FORCE_INLINE btScalar computeAngularImpulseDenominator(const btVector3& axis) const
{
btVector3 vec = axis * getInvInertiaTensorWorld();
return axis.dot(vec);
}
inline void updateDeactivation(btScalar timeStep)
SIMD_FORCE_INLINE void updateDeactivation(btScalar timeStep)
{
if ( (getActivationState() == ISLAND_SLEEPING) || (getActivationState() == DISABLE_DEACTIVATION))
return;
@@ -290,7 +290,7 @@ public:
}
inline bool wantsSleeping()
SIMD_FORCE_INLINE bool wantsSleeping()
{
if (getActivationState() == DISABLE_DEACTIVATION)