First complete implementation of the hierarchical SAP.

2021-03-13 18:00:58 +01:00
parent a967ace7d4
commit 3a1502be74
18 changed files with 784 additions and 282 deletions
--- a/src/geometry/broad_phase_multi_sap/sap_utils.rs
+++ b/src/geometry/broad_phase_multi_sap/sap_utils.rs
@@ -4,6 +4,7 @@ use parry::bounding_volume::AABB;
 pub(crate) const NUM_SENTINELS: usize = 1;
 pub(crate) const NEXT_FREE_SENTINEL: u32 = u32::MAX;
 pub(crate) const SENTINEL_VALUE: Real = Real::MAX;
+pub(crate) const DELETED_AABB_VALUE: Real = SENTINEL_VALUE / 2.0;
 pub(crate) const REGION_WIDTH_BASE: Real = 20.0;
 pub(crate) const REGION_WIDTH_POWER_BASIS: Real = 8.0;