Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

+ capsule should subtract margin, and take local scaling into account.

Browse Source 
+ boxshape uses btFsels
+ add assert in btGjkPairDetector that the new non-virtual method produces the same result as old non-virtual
This commit is contained in:
erwin.coumans
2008-09-30 18:37:01 +00:00
parent 9f28b2bc12
commit 0ff15db3f3
2 changed files with 30 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files

21
src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
View File

@@ -18,7 +18,10 @@ subject to the following restrictions:
#include "BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h"
#include "BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h"
#if defined(DEBUG) || defined (_DEBUG)
#define TEST_NON_VIRTUAL 1
#include <stdio.h> //for debug printf
#ifdef __SPU__
#include <spu_printf.h>
@@ -59,9 +62,18 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result&
localTransA.getOrigin() -= positionOffset;
localTransB.getOrigin() -= positionOffset;
btScalar marginA = m_minkowskiA->getMarginNonVirtual();
btScalar marginB = m_minkowskiB->getMarginNonVirtual();
#ifdef TEST_NON_VIRTUAL
btScalar marginAv = m_minkowskiA->getMargin();
btScalar marginBv = m_minkowskiB->getMargin();
btAssert(marginA == marginAv);
btAssert(marginB == marginBv);
#endif //TEST_NON_VIRTUAL
gNumGjkChecks++;
#ifdef DEBUG_SPU_COLLISION_DETECTION
@@ -105,8 +117,17 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result&
btVector3 seperatingAxisInA = (-m_cachedSeparatingAxis)* input.m_transformA.getBasis();
btVector3 seperatingAxisInB = m_cachedSeparatingAxis* input.m_transformB.getBasis();
#ifdef TEST_NON_VIRTUAL
btVector3 pInAv = m_minkowskiA->localGetSupportingVertexWithoutMargin(seperatingAxisInA);
btVector3 qInBv = m_minkowskiB->localGetSupportingVertexWithoutMargin(seperatingAxisInB);
#endif
btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA);
btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB);
#ifdef TEST_NON_VIRTUAL
btAssert((pInAv-pInA).length() < 0.0001);
btAssert((qInBv-qInB).length() < 0.0001);
#endif //
btPoint3 pWorld = localTransA(pInA);
btPoint3 qWorld = localTransB(qInB);