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This commit is contained in:
erwin.coumans
2010-08-25 01:41:37 +00:00
parent 958c705a02
commit 3c2d67115c
1 changed files with 4 additions and 2 deletions
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6
Demos/ConvexHullDistance/ConvexHullDistanceDemo.cpp
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@@ -26,13 +26,14 @@ subject to the following restrictions:
#include "BulletCollision/CollisionShapes/btConvexHullShape.h" #include "BulletCollision/CollisionShapes/btConvexHullShape.h"
#include "BulletCollision/CollisionShapes/btCylinderShape.h" #include "BulletCollision/CollisionShapes/btCylinderShape.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h" #include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
#include "BulletCollision/NarrowPhaseCollision/btPointCollector.h" #include "BulletCollision/NarrowPhaseCollision/btPointCollector.h"
#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h" #include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h" #include "BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h"
#include "LinearMath/btIDebugDraw.h" #include "LinearMath/btIDebugDraw.h"
//#define USE_GJK #define USE_GJK
#ifndef USE_GJK #ifndef USE_GJK
#include "btBulletCollisionCommon.h" #include "btBulletCollisionCommon.h"
@@ -223,7 +224,8 @@ void clientDisplay(void) {
float m[16]; float m[16];
int i; int i;
#ifdef USE_GJK #ifdef USE_GJK
btGjkPairDetector convexConvex(shapePtr[0],shapePtr[1],&sGjkSimplexSolver,0); btGjkEpaPenetrationDepthSolver epa;
btGjkPairDetector convexConvex(shapePtr[0],shapePtr[1],&sGjkSimplexSolver,&epa);
btVector3 seperatingAxis(0.00000000f,0.059727669f,0.29259586f); btVector3 seperatingAxis(0.00000000f,0.059727669f,0.29259586f);
convexConvex.setCachedSeperatingAxis(seperatingAxis); convexConvex.setCachedSeperatingAxis(seperatingAxis);