diff options
Diffstat (limited to 'extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h')
| -rw-r--r-- | extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h | 43 |
1 files changed, 32 insertions, 11 deletions
diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h index c2372b648f6..a5918b84db3 100644 --- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h +++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h @@ -17,14 +17,14 @@ subject to the following restrictions: #define PERSISTENT_MANIFOLD_H -#include "LinearMath/btVector3.h" -#include "LinearMath/btTransform.h" +#include "../../LinearMath/btVector3.h" +#include "../../LinearMath/btTransform.h" #include "btManifoldPoint.h" struct btCollisionResult; ///contact breaking and merging threshold -extern float gContactBreakingThreshold; +extern btScalar gContactBreakingThreshold; typedef bool (*ContactDestroyedCallback)(void* userPersistentData); extern ContactDestroyedCallback gContactDestroyedCallback; @@ -36,7 +36,7 @@ extern ContactDestroyedCallback gContactDestroyedCallback; ///btPersistentManifold maintains contact points, and reduces them to 4. ///It does contact filtering/contact reduction. -class btPersistentManifold +ATTRIBUTE_ALIGNED16( class) btPersistentManifold { btManifoldPoint m_pointCache[MANIFOLD_CACHE_SIZE]; @@ -97,7 +97,7 @@ public: } /// todo: get this margin from the current physics / collision environment - float getContactBreakingThreshold() const; + btScalar getContactBreakingThreshold() const; int getCacheEntry(const btManifoldPoint& newPoint) const; @@ -108,18 +108,36 @@ public: clearUserCache(m_pointCache[index]); int lastUsedIndex = getNumContacts() - 1; - m_pointCache[index] = m_pointCache[lastUsedIndex]; - //get rid of duplicated userPersistentData pointer - m_pointCache[lastUsedIndex].m_userPersistentData = 0; +// m_pointCache[index] = m_pointCache[lastUsedIndex]; + if(index != lastUsedIndex) + { + m_pointCache[index] = m_pointCache[lastUsedIndex]; + //get rid of duplicated userPersistentData pointer + m_pointCache[lastUsedIndex].m_userPersistentData = 0; + } + + btAssert(m_pointCache[lastUsedIndex].m_userPersistentData==0); m_cachedPoints--; } void replaceContactPoint(const btManifoldPoint& newPoint,int insertIndex) { - assert(validContactDistance(newPoint)); + btAssert(validContactDistance(newPoint)); - clearUserCache(m_pointCache[insertIndex]); +#define MAINTAIN_PERSISTENCY 1 +#ifdef MAINTAIN_PERSISTENCY + int lifeTime = m_pointCache[insertIndex].getLifeTime(); + btAssert(lifeTime>=0); + void* cache = m_pointCache[insertIndex].m_userPersistentData; m_pointCache[insertIndex] = newPoint; + + m_pointCache[insertIndex].m_userPersistentData = cache; + m_pointCache[insertIndex].m_lifeTime = lifeTime; +#else + clearUserCache(m_pointCache[insertIndex]); + m_pointCache[insertIndex] = newPoint; + +#endif } bool validContactDistance(const btManifoldPoint& pt) const @@ -133,7 +151,10 @@ public: -}; +} +; + + |