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Gael Guennebaud authored
* in collisionsolver.cc: split checkContacts() into a checkContacts() function (which only check/update the contacts and returns the number of contact constraints) and a getContactsInfo() which only does the matrix filling. * in world.cc: - thanks to above change no need to have addContacts/clearContacts anymore (this was inefficient) - reorder the checkContacts() / getContactsInfo() functions calls such that the dimensions of the sparse matrices are set before we start filling them. svn path=/trunk/KDE/kdeedu/step/; revision=927880
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