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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)
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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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src/BulletCollision/CollisionShapes/btConvexShape.h
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@@ -52,6 +52,8 @@ public:
btScalar getMarginNonVirtual () const;
void getAabbNonVirtual (const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
virtual void project(const btTransform& trans, const btVector3& dir, float& min, float& max) const;
//notice that the vectors should be unit length
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const= 0;