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Expose the multi-point perturbation algorithm for btConvexPlaneCollisionAlgorithm

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Usage:
	m_collisionConfiguration = new btDefaultCollisionConfiguration();
	m_collisionConfiguration->setPlaneConvexMultipointIterations();

It is only enabled for polyhedral convex shapes, because implicit/smooth surfaces such as spheres, cylinders, capsules and cones keep on rolling forever, due to the extra off-center contact points
This commit is contained in:
erwin.coumans
2011-09-14 20:38:33 +00:00
parent 9abcd9cf2e
commit 385933b5ed
3 changed files with 13 additions and 1 deletions
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2
src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h
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@@ -129,6 +129,8 @@ public:
///@todo we could add a per-object setting of those parameters, for level-of-detail collision detection.
void setConvexConvexMultipointIterations(int numPerturbationIterations=3, int minimumPointsPerturbationThreshold = 3);
void setPlaneConvexMultipointIterations(int numPerturbationIterations=3, int minimumPointsPerturbationThreshold = 3);
};
#endif //BT_DEFAULT_COLLISION_CONFIGURATION