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  1. 19 Dec, 2014 1 commit
    • Inge Wallin's avatar
      Make Body inherit Item · 0d44402f
      Inge Wallin authored 
      Previously Body was a root class and all subclasses of Body inherited both
Item and Body. This seemed strange.
      0d44402f
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    • Gael Guennebaud's avatar
      Step: remove the dependency to GMM++ in favor of Eigen2. Side effects: · b7c96970
      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
      b7c96970
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