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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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17
src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp
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@@ -19,9 +19,6 @@ subject to the following restrictions:
#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
#include "BulletCollision/CollisionShapes/btConvexShape.h"
#define NUM_UNITSPHERE_POINTS 42
static btVector3 sPenetrationDirections[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2] =
{
@@ -117,7 +114,9 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s
btVector3 seperatingAxisInA,seperatingAxisInB;
btVector3 pInA,qInB,pWorld,qWorld,w;
#ifndef __SPU__
#define USE_BATCHED_SUPPORT 1
#endif
#ifdef USE_BATCHED_SUPPORT
btVector3 supportVerticesABatch[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2];
@@ -200,6 +199,7 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s
int numSampleDirections = NUM_UNITSPHERE_POINTS;
#ifndef __SPU__
{
int numPDA = convexA->getNumPreferredPenetrationDirections();
if (numPDA)
@@ -229,14 +229,15 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s
}
}
}
#endif // __SPU__
for (int i=0;i<numSampleDirections;i++)
{
const btVector3& norm = sPenetrationDirections[i];
seperatingAxisInA = (-norm)* transA.getBasis();
seperatingAxisInB = norm* transB.getBasis();
pInA = convexA->localGetSupportingVertexWithoutMargin(seperatingAxisInA);
qInB = convexB->localGetSupportingVertexWithoutMargin(seperatingAxisInB);
pInA = convexA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA);
qInB = convexB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB);
pWorld = transA(pInA);
qWorld = transB(qInB);
w = qWorld - pWorld;
@@ -254,13 +255,13 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s
//add the margins
minA += minNorm*convexA->getMargin();
minB -= minNorm*convexB->getMargin();
minA += minNorm*convexA->getMarginNonVirtual();
minB -= minNorm*convexB->getMarginNonVirtual();
//no penetration
if (minProj < btScalar(0.))
return false;
minProj += (convexA->getMargin() + convexB->getMargin());
minProj += (convexA->getMarginNonVirtual() + convexB->getMarginNonVirtual());