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Added Pierre Terdiman's 'internal object' optimization to improve performance for separating axis tests.

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Make the winding consistent in btConvexHullComputer (and related fixes in btPolyhedralConvexShape), thanks to Ole!
Some fixes in the btPolyhedralContactClipping implementation (never report a penetration deeper than GJK/EPA found, to avoid issues due to its approximate contact normal directions)
Properly visualize btPolyhedralConvexHullShape that have a  btConvexPolyhedron (by calling initializePolyhedralFeatures() method)
This commit is contained in:
erwin.coumans
2011-04-15 18:37:28 +00:00
parent 7d37b3c472
commit 1b305562be
12 changed files with 488 additions and 209 deletions
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17
src/BulletCollision/CollisionShapes/btConvexShape.cpp
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@@ -43,6 +43,23 @@ btConvexShape::~btConvexShape()
}
void btConvexShape::project(const btTransform& trans, const btVector3& dir, float& min, float& max) const
{
btVector3 localAxis = dir*trans.getBasis();
btVector3 vtx1 = trans(localGetSupportingVertex(localAxis));
btVector3 vtx2 = trans(localGetSupportingVertex(-localAxis));
min = vtx1.dot(dir);
max = vtx2.dot(dir);
if(min>max)
{
float tmp = min;
min = max;
max = tmp;
}
}
static btVector3 convexHullSupport (const btVector3& localDirOrg, const btVector3* points, int numPoints, const btVector3& localScaling)
{