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Disable TEST_NON_VIRTUAL debugging for btGjkPairDetector

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Reverted BulletMultiThreaded, there are some performance issues to be resolved.
This commit is contained in:
erwin.coumans
2008-10-08 20:59:26 +00:00
parent e499a13572
commit 10d103b50e
15 changed files with 641 additions and 987 deletions
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16
Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuMinkowskiPenetrationDepthSolver.cpp
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@@ -13,15 +13,15 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
#include "SpuCollisionShapes.h"
#include "SpuMinkowskiPenetrationDepthSolver.h"
#include "SpuVoronoiSimplexSolver.h"
#include "SpuGjkPairDetector.h"
#include "SpuContactResult.h"
#include "SpuPreferredPenetrationDirections.h"
#include "SpuCollisionShapes.h"
#define NUM_UNITSPHERE_POINTS 42
static btVector3 sPenetrationDirections[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2] =
{
@@ -69,7 +69,7 @@ btVector3(btScalar(-0.425323) , btScalar(0.309011),btScalar(0.850654)),
btVector3(btScalar(0.162456) , btScalar(0.499995),btScalar(0.850654))
};
bool SpuMinkowskiPenetrationDepthSolver::calcPenDepth( btVoronoiSimplexSolver& simplexSolver,
bool SpuMinkowskiPenetrationDepthSolver::calcPenDepth( SpuVoronoiSimplexSolver& simplexSolver,
void* convexA,void* convexB,int shapeTypeA, int shapeTypeB, float marginA, float marginB,
btTransform& transA,const btTransform& transB,
btVector3& v, btPoint3& pa, btPoint3& pb,
@@ -113,7 +113,7 @@ bool SpuMinkowskiPenetrationDepthSolver::calcPenDepth( btVoronoiSimplexSolver& s
//just take fixed number of orientation, and sample the penetration depth in that direction
btScalar minProj = btScalar(1e30);
btVector3 minNorm = btVector3(btScalar(0.0f), btScalar(0.0f), btScalar(0.0f));
btVector3 minNorm;
btVector3 minVertex;
btVector3 minA,minB;
btVector3 seperatingAxisInA,seperatingAxisInB;
@@ -291,8 +291,7 @@ bool SpuMinkowskiPenetrationDepthSolver::calcPenDepth( btVoronoiSimplexSolver& s
}
#endif //DEBUG_DRAW
return false;
#if 0 //FIXME
SpuGjkPairDetector gjkdet(convexA,convexB,shapeTypeA,shapeTypeB,marginA,marginB,&simplexSolver,0);
@@ -342,7 +341,6 @@ bool SpuMinkowskiPenetrationDepthSolver::calcPenDepth( btVoronoiSimplexSolver& s
btAssert (false);
}
return res.m_hasResult;
#endif
}