375 lines
13 KiB
C++
375 lines
13 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef BT_PERSISTENT_MANIFOLD_H
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#define BT_PERSISTENT_MANIFOLD_H
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#include "LinearMath/btVector3.h"
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#include "LinearMath/btTransform.h"
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#include "btManifoldPoint.h"
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class btCollisionObject;
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#include "LinearMath/btAlignedAllocator.h"
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struct btCollisionResult;
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struct btCollisionObjectDoubleData;
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struct btCollisionObjectFloatData;
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///maximum contact breaking and merging threshold
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extern btScalar gContactBreakingThreshold;
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#ifndef SWIG
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class btPersistentManifold;
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typedef bool (*ContactDestroyedCallback)(void* userPersistentData);
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typedef bool (*ContactProcessedCallback)(btManifoldPoint& cp, void* body0, void* body1);
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typedef void (*ContactStartedCallback)(btPersistentManifold* const& manifold);
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typedef void (*ContactEndedCallback)(btPersistentManifold* const& manifold);
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extern ContactDestroyedCallback gContactDestroyedCallback;
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extern ContactProcessedCallback gContactProcessedCallback;
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extern ContactStartedCallback gContactStartedCallback;
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extern ContactEndedCallback gContactEndedCallback;
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#endif //SWIG
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//the enum starts at 1024 to avoid type conflicts with btTypedConstraint
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enum btContactManifoldTypes
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{
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MIN_CONTACT_MANIFOLD_TYPE = 1024,
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BT_PERSISTENT_MANIFOLD_TYPE
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};
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#define MANIFOLD_CACHE_SIZE 4
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///btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping in the broadphase.
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///Those contact points are created by the collision narrow phase.
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///The cache can be empty, or hold 1,2,3 or 4 points. Some collision algorithms (GJK) might only add one point at a time.
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///updates/refreshes old contact points, and throw them away if necessary (distance becomes too large)
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///reduces the cache to 4 points, when more then 4 points are added, using following rules:
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///the contact point with deepest penetration is always kept, and it tries to maximuze the area covered by the points
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///note that some pairs of objects might have more then one contact manifold.
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//ATTRIBUTE_ALIGNED128( class) btPersistentManifold : public btTypedObject
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ATTRIBUTE_ALIGNED16(class)
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btPersistentManifold : public btTypedObject
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{
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btManifoldPoint m_pointCache[MANIFOLD_CACHE_SIZE];
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/// this two body pointers can point to the physics rigidbody class.
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const btCollisionObject* m_body0;
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const btCollisionObject* m_body1;
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int m_cachedPoints;
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btScalar m_contactBreakingThreshold;
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btScalar m_contactProcessingThreshold;
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/// sort cached points so most isolated points come first
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int sortCachedPoints(const btManifoldPoint& pt);
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int findContactPoint(const btManifoldPoint* unUsed, int numUnused, const btManifoldPoint& pt);
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public:
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BT_DECLARE_ALIGNED_ALLOCATOR();
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int m_companionIdA;
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int m_companionIdB;
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int m_index1a;
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btPersistentManifold();
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btPersistentManifold(const btCollisionObject* body0, const btCollisionObject* body1, int, btScalar contactBreakingThreshold, btScalar contactProcessingThreshold)
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: btTypedObject(BT_PERSISTENT_MANIFOLD_TYPE),
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m_body0(body0),
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m_body1(body1),
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m_cachedPoints(0),
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m_contactBreakingThreshold(contactBreakingThreshold),
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m_contactProcessingThreshold(contactProcessingThreshold),
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m_companionIdA(0),
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m_companionIdB(0),
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m_index1a(0)
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{
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}
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SIMD_FORCE_INLINE const btCollisionObject* getBody0() const { return m_body0; }
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SIMD_FORCE_INLINE const btCollisionObject* getBody1() const { return m_body1; }
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void setBodies(const btCollisionObject* body0, const btCollisionObject* body1)
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{
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m_body0 = body0;
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m_body1 = body1;
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}
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void clearUserCache(btManifoldPoint & pt);
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#ifdef DEBUG_PERSISTENCY
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void DebugPersistency();
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#endif //
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SIMD_FORCE_INLINE int getNumContacts() const
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{
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return m_cachedPoints;
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}
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/// the setNumContacts API is usually not used, except when you gather/fill all contacts manually
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void setNumContacts(int cachedPoints)
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{
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m_cachedPoints = cachedPoints;
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}
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SIMD_FORCE_INLINE const btManifoldPoint& getContactPoint(int index) const
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{
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btAssert(index < m_cachedPoints);
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return m_pointCache[index];
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}
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SIMD_FORCE_INLINE btManifoldPoint& getContactPoint(int index)
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{
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btAssert(index < m_cachedPoints);
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return m_pointCache[index];
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}
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///@todo: get this margin from the current physics / collision environment
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btScalar getContactBreakingThreshold() const;
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btScalar getContactProcessingThreshold() const
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{
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return m_contactProcessingThreshold;
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}
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void setContactBreakingThreshold(btScalar contactBreakingThreshold)
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{
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m_contactBreakingThreshold = contactBreakingThreshold;
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}
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void setContactProcessingThreshold(btScalar contactProcessingThreshold)
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{
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m_contactProcessingThreshold = contactProcessingThreshold;
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}
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int getCacheEntry(const btManifoldPoint& newPoint) const;
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int addManifoldPoint(const btManifoldPoint& newPoint, bool isPredictive = false);
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void removeContactPoint(int index)
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{
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clearUserCache(m_pointCache[index]);
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int lastUsedIndex = getNumContacts() - 1;
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// m_pointCache[index] = m_pointCache[lastUsedIndex];
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if (index != lastUsedIndex)
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{
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m_pointCache[index] = m_pointCache[lastUsedIndex];
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//get rid of duplicated userPersistentData pointer
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m_pointCache[lastUsedIndex].m_userPersistentData = 0;
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m_pointCache[lastUsedIndex].m_appliedImpulse = 0.f;
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m_pointCache[lastUsedIndex].m_prevRHS = 0.f;
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m_pointCache[lastUsedIndex].m_contactPointFlags = 0;
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m_pointCache[lastUsedIndex].m_appliedImpulseLateral1 = 0.f;
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m_pointCache[lastUsedIndex].m_appliedImpulseLateral2 = 0.f;
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m_pointCache[lastUsedIndex].m_lifeTime = 0;
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}
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btAssert(m_pointCache[lastUsedIndex].m_userPersistentData == 0);
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m_cachedPoints--;
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if (gContactEndedCallback && m_cachedPoints == 0)
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{
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gContactEndedCallback(this);
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}
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}
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void replaceContactPoint(const btManifoldPoint& newPoint, int insertIndex)
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{
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btAssert(validContactDistance(newPoint));
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#define MAINTAIN_PERSISTENCY 1
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#ifdef MAINTAIN_PERSISTENCY
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int lifeTime = m_pointCache[insertIndex].getLifeTime();
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btScalar appliedImpulse = m_pointCache[insertIndex].m_appliedImpulse;
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btScalar prevRHS = m_pointCache[insertIndex].m_prevRHS;
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btScalar appliedLateralImpulse1 = m_pointCache[insertIndex].m_appliedImpulseLateral1;
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btScalar appliedLateralImpulse2 = m_pointCache[insertIndex].m_appliedImpulseLateral2;
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bool replacePoint = true;
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///we keep existing contact points for friction anchors
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///if the friction force is within the Coulomb friction cone
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if (newPoint.m_contactPointFlags & BT_CONTACT_FLAG_FRICTION_ANCHOR)
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{
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// printf("appliedImpulse=%f\n", appliedImpulse);
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// printf("appliedLateralImpulse1=%f\n", appliedLateralImpulse1);
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// printf("appliedLateralImpulse2=%f\n", appliedLateralImpulse2);
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// printf("mu = %f\n", m_pointCache[insertIndex].m_combinedFriction);
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btScalar mu = m_pointCache[insertIndex].m_combinedFriction;
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btScalar eps = 0; //we could allow to enlarge or shrink the tolerance to check against the friction cone a bit, say 1e-7
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btScalar a = appliedLateralImpulse1 * appliedLateralImpulse1 + appliedLateralImpulse2 * appliedLateralImpulse2;
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btScalar b = eps + mu * appliedImpulse;
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b = b * b;
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replacePoint = (a) > (b);
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}
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if (replacePoint)
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{
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btAssert(lifeTime >= 0);
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void* cache = m_pointCache[insertIndex].m_userPersistentData;
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m_pointCache[insertIndex] = newPoint;
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m_pointCache[insertIndex].m_userPersistentData = cache;
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m_pointCache[insertIndex].m_appliedImpulse = appliedImpulse;
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m_pointCache[insertIndex].m_prevRHS = prevRHS;
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m_pointCache[insertIndex].m_appliedImpulseLateral1 = appliedLateralImpulse1;
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m_pointCache[insertIndex].m_appliedImpulseLateral2 = appliedLateralImpulse2;
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}
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m_pointCache[insertIndex].m_lifeTime = lifeTime;
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#else
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clearUserCache(m_pointCache[insertIndex]);
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m_pointCache[insertIndex] = newPoint;
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#endif
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}
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bool validContactDistance(const btManifoldPoint& pt) const
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{
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return pt.m_distance1 <= getContactBreakingThreshold();
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}
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/// calculated new worldspace coordinates and depth, and reject points that exceed the collision margin
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void refreshContactPoints(const btTransform& trA, const btTransform& trB);
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SIMD_FORCE_INLINE void clearManifold()
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{
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int i;
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for (i = 0; i < m_cachedPoints; i++)
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{
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clearUserCache(m_pointCache[i]);
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}
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if (gContactEndedCallback && m_cachedPoints)
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{
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gContactEndedCallback(this);
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}
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m_cachedPoints = 0;
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}
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int calculateSerializeBufferSize() const;
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const char* serialize(const class btPersistentManifold* manifold, void* dataBuffer, class btSerializer* serializer) const;
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void deSerialize(const struct btPersistentManifoldDoubleData* manifoldDataPtr);
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void deSerialize(const struct btPersistentManifoldFloatData* manifoldDataPtr);
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};
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// clang-format off
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struct btPersistentManifoldDoubleData
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{
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btVector3DoubleData m_pointCacheLocalPointA[4];
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btVector3DoubleData m_pointCacheLocalPointB[4];
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btVector3DoubleData m_pointCachePositionWorldOnA[4];
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btVector3DoubleData m_pointCachePositionWorldOnB[4];
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btVector3DoubleData m_pointCacheNormalWorldOnB[4];
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btVector3DoubleData m_pointCacheLateralFrictionDir1[4];
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btVector3DoubleData m_pointCacheLateralFrictionDir2[4];
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double m_pointCacheDistance[4];
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double m_pointCacheAppliedImpulse[4];
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double m_pointCachePrevRHS[4];
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double m_pointCacheCombinedFriction[4];
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double m_pointCacheCombinedRollingFriction[4];
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double m_pointCacheCombinedSpinningFriction[4];
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double m_pointCacheCombinedRestitution[4];
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int m_pointCachePartId0[4];
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int m_pointCachePartId1[4];
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int m_pointCacheIndex0[4];
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int m_pointCacheIndex1[4];
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int m_pointCacheContactPointFlags[4];
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double m_pointCacheAppliedImpulseLateral1[4];
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double m_pointCacheAppliedImpulseLateral2[4];
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double m_pointCacheContactMotion1[4];
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double m_pointCacheContactMotion2[4];
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double m_pointCacheContactCFM[4];
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double m_pointCacheCombinedContactStiffness1[4];
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double m_pointCacheContactERP[4];
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double m_pointCacheCombinedContactDamping1[4];
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double m_pointCacheFrictionCFM[4];
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int m_pointCacheLifeTime[4];
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int m_numCachedPoints;
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int m_companionIdA;
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int m_companionIdB;
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int m_index1a;
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int m_objectType;
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double m_contactBreakingThreshold;
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double m_contactProcessingThreshold;
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int m_padding;
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btCollisionObjectDoubleData *m_body0;
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btCollisionObjectDoubleData *m_body1;
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};
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struct btPersistentManifoldFloatData
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{
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btVector3FloatData m_pointCacheLocalPointA[4];
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btVector3FloatData m_pointCacheLocalPointB[4];
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btVector3FloatData m_pointCachePositionWorldOnA[4];
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btVector3FloatData m_pointCachePositionWorldOnB[4];
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btVector3FloatData m_pointCacheNormalWorldOnB[4];
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btVector3FloatData m_pointCacheLateralFrictionDir1[4];
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btVector3FloatData m_pointCacheLateralFrictionDir2[4];
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float m_pointCacheDistance[4];
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float m_pointCacheAppliedImpulse[4];
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float m_pointCachePrevRHS[4];
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float m_pointCacheCombinedFriction[4];
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float m_pointCacheCombinedRollingFriction[4];
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float m_pointCacheCombinedSpinningFriction[4];
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float m_pointCacheCombinedRestitution[4];
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int m_pointCachePartId0[4];
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int m_pointCachePartId1[4];
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int m_pointCacheIndex0[4];
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int m_pointCacheIndex1[4];
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int m_pointCacheContactPointFlags[4];
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float m_pointCacheAppliedImpulseLateral1[4];
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float m_pointCacheAppliedImpulseLateral2[4];
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float m_pointCacheContactMotion1[4];
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float m_pointCacheContactMotion2[4];
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float m_pointCacheContactCFM[4];
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float m_pointCacheCombinedContactStiffness1[4];
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float m_pointCacheContactERP[4];
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float m_pointCacheCombinedContactDamping1[4];
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float m_pointCacheFrictionCFM[4];
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int m_pointCacheLifeTime[4];
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int m_numCachedPoints;
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int m_companionIdA;
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int m_companionIdB;
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int m_index1a;
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int m_objectType;
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float m_contactBreakingThreshold;
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float m_contactProcessingThreshold;
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int m_padding;
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btCollisionObjectFloatData *m_body0;
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btCollisionObjectFloatData *m_body1;
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};
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// clang-format on
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#ifdef BT_USE_DOUBLE_PRECISION
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#define btPersistentManifoldData btPersistentManifoldDoubleData
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#define btPersistentManifoldDataName "btPersistentManifoldDoubleData"
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#else
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#define btPersistentManifoldData btPersistentManifoldFloatData
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#define btPersistentManifoldDataName "btPersistentManifoldFloatData"
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#endif //BT_USE_DOUBLE_PRECISION
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#endif //BT_PERSISTENT_MANIFOLD_H
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