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more solver experiments, randomize the order of contact points, not just manifolds

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use #defines for constants, rather then const btScalar
This commit is contained in:
ejcoumans
2006-11-04 05:22:36 +00:00
parent c4c4523a4e
commit 23c64fb0db
11 changed files with 71 additions and 51 deletions
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9
src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
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@@ -22,9 +22,9 @@ subject to the following restrictions:
#include <stdio.h> //for debug printf
#endif
static const btScalar rel_error = btScalar(1.0e-5);
btScalar rel_error2 = rel_error * rel_error;
float maxdist2 = 1.e30f;
#define REL_ERROR2 1.0e-10f
#ifdef __SPU__
#include <spu_printf.h>
@@ -102,7 +102,7 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result&
break;
}
// are we getting any closer ?
if (squaredDistance - delta <= squaredDistance * rel_error2)
if (squaredDistance - delta <= squaredDistance * REL_ERROR2)
{
checkSimplex = true;
break;
@@ -172,6 +172,7 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result&
float rlen = 1.f / btSqrt(lenSqr );
normalInB *= rlen; //normalize
btScalar s = btSqrt(squaredDistance);
ASSERT(s > btScalar(0.0));
pointOnA -= m_cachedSeparatingAxis * (marginA / s);
pointOnB += m_cachedSeparatingAxis * (marginB / s);