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Make getShapeType() a non virtual function.

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Add localGetSupportVertexNonVirtual, localGetSupportVertexWithoutMarginNonVirtual, getAabbNonVirtual and getMarginNonVirtual methods to convex shape classes
This commit is contained in:
john.mccutchan
2008-09-29 22:47:05 +00:00
parent 41b6eaa87f
commit 2b71784c86
50 changed files with 968 additions and 168 deletions
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38
src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
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@@ -23,6 +23,7 @@ subject to the following restrictions:
#ifdef __SPU__
#include <spu_printf.h>
#define printf spu_printf
//#define DEBUG_SPU_COLLISION_DETECTION 1
#endif //__SPU__
#endif
@@ -58,16 +59,22 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result&
localTransA.getOrigin() -= positionOffset;
localTransB.getOrigin() -= positionOffset;
btScalar marginA = m_minkowskiA->getMargin();
btScalar marginB = m_minkowskiB->getMargin();
btScalar marginA = m_minkowskiA->getMarginNonVirtual();
btScalar marginB = m_minkowskiB->getMarginNonVirtual();
gNumGjkChecks++;
#ifdef DEBUG_SPU_COLLISION_DETECTION
spu_printf("inside gjk\n");
#endif
//for CCD we don't use margins
if (m_ignoreMargin)
{
marginA = btScalar(0.);
marginB = btScalar(0.);
#ifdef DEBUG_SPU_COLLISION_DETECTION
spu_printf("ignoring margin\n");
#endif
}
m_curIter = 0;
@@ -98,11 +105,15 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result&
btVector3 seperatingAxisInA = (-m_cachedSeparatingAxis)* input.m_transformA.getBasis();
btVector3 seperatingAxisInB = m_cachedSeparatingAxis* input.m_transformB.getBasis();
btVector3 pInA = m_minkowskiA->localGetSupportingVertexWithoutMargin(seperatingAxisInA);
btVector3 qInB = m_minkowskiB->localGetSupportingVertexWithoutMargin(seperatingAxisInB);
btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA);
btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB);
btPoint3 pWorld = localTransA(pInA);
btPoint3 qWorld = localTransB(qInB);
#ifdef DEBUG_SPU_COLLISION_DETECTION
spu_printf("got local supporting vertices\n");
#endif
btVector3 w = pWorld - qWorld;
delta = m_cachedSeparatingAxis.dot(w);
@@ -133,9 +144,15 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result&
checkSimplex = true;
break;
}
#ifdef DEBUG_SPU_COLLISION_DETECTION
spu_printf("addVertex 1\n");
#endif
//add current vertex to simplex
m_simplexSolver->addVertex(w, pWorld, qWorld);
#ifdef DEBUG_SPU_COLLISION_DETECTION
spu_printf("addVertex 2\n");
#endif
//calculate the closest point to the origin (update vector v)
if (!m_simplexSolver->closest(m_cachedSeparatingAxis))
{
@@ -167,7 +184,7 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result&
//degeneracy, this is typically due to invalid/uninitialized worldtransforms for a btCollisionObject
if (m_curIter++ > gGjkMaxIter)
{
#if defined(DEBUG) || defined (_DEBUG)
#if defined(DEBUG) || defined (_DEBUG) || defined (DEBUG_SPU_COLLISION_DETECTION)
printf("btGjkPairDetector maxIter exceeded:%i\n",m_curIter);
printf("sepAxis=(%f,%f,%f), squaredDistance = %f, shapeTypeA=%i,shapeTypeB=%i\n",
@@ -290,10 +307,17 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result&
#endif //__CELLOS_LV2__
#ifdef DEBUG_SPU_COLLISION_DETECTION
spu_printf("output 1\n");
#endif
output.addContactPoint(
normalInB,
pointOnB+positionOffset,
distance);
#ifdef DEBUG_SPU_COLLISION_DETECTION
spu_printf("output 2\n");
#endif
//printf("gjk add:%f",distance);
}