Add EPA penetration depth solver support to bullet multithreaded.

Update SubSimplexConvexCast algorithm used in bullet multithreaded.
2008-05-06 00:44:18 +00:00
parent 25c5d0d57a
commit 3268cab6d7
15 changed files with 1079 additions and 51 deletions
--- a/Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuMinkowskiPenetrationDepthSolver.cpp
+++ b/Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuMinkowskiPenetrationDepthSolver.cpp
@@ -271,7 +271,7 @@ bool SpuMinkowskiPenetrationDepthSolver::calcPenDepth( SpuVoronoiSimplexSolver&
 	if (minProj < btScalar(0.))
 		return false;

-	minProj += (marginA + marginB);
+	minProj += (marginA + marginB) + btScalar(1.00);



@@ -336,6 +336,9 @@ bool SpuMinkowskiPenetrationDepthSolver::calcPenDepth( SpuVoronoiSimplexSolver&
 #endif//DEBUG_DRAW


+	} else {
+		// could not seperate shapes
+		btAssert (false);
 	}
 	return res.m_hasResult;
 }