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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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    • Vladimir Kuznetsov's avatar
      New joint: pin. · 033a0d3a
      Vladimir Kuznetsov authored
      Fixed recently introduced bug which caused all examples to work slightly incorectly
      (oh god, please send me unit tests for stepcore as soon as possible and as many as possible !)
      
      svn path=/trunk/playground/edu/step/; revision=734853
      033a0d3a
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