Combined the distance barrier and CCD broad-phases

ipc-sim / rigid-ipc

Robust, intersection-free, simulations of rigid bodies.

https://ipc-sim.github.io/rigid-ipc

MIT License

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Closed zfergus closed 5 years ago

zfergus commented 5 years ago

Exposed broad-phase in order to get the candidate collisions
Modified DistanceBarrier::detectCollisions to first build a common collision candidate set
Using this set run the narrow-phase of both the barrier and the CCD
TODO: Expose the ev_candidates as a member variable.
TODO: Add a is_collision_candidates_frozen flag to cause detectCollisions to not run the broad-phase again.