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Minor constraint refactoring, to allow SPU-side processing for PLAYSTATION 3 (added non-virtual methods)

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Also comment-out some code for __SPU__ to reduce code size
Added btContactConstraint (only used on PS3 SPU right now, better to use btPersistentManifold directly for contact constraints)
Improved readblend utility library (see also usage in http://gamekit.googlecode.com with Irrlicht)

Fix for btConvexConvexAlgorithm, potential division by zero
Thanks linzner http://code.google.com/p/bullet/issues/detail?id=260
This commit is contained in:
erwin.coumans
2009-08-05 22:14:46 +00:00
parent b16f251530
commit 3e2529fcb5
21 changed files with 2980 additions and 2587 deletions
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22
src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp
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@@ -207,12 +207,24 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
input.m_transformB = body1->getWorldTransform();
gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
btScalar sepDist = gjkPairDetector.getCachedSeparatingDistance()+dispatchInfo.m_convexConservativeDistanceThreshold;
//now perturbe directions to get multiple contact points
btVector3 v0,v1;
btVector3 sepNormalWorldSpace = gjkPairDetector.getCachedSeparatingAxis().normalized();
btPlaneSpace1(sepNormalWorldSpace,v0,v1);
btVector3 sepNormalWorldSpace;
btScalar sepDist = 0.f;
#ifdef USE_SEPDISTANCE_UTIL2
if (dispatchInfo.m_useConvexConservativeDistanceUtil)
{
sepDist = gjkPairDetector.getCachedSeparatingDistance()+dispatchInfo.m_convexConservativeDistanceThreshold;
if (sepDist>SIMD_EPSILON)
{
//now perturbe directions to get multiple contact points
sepNormalWorldSpace = gjkPairDetector.getCachedSeparatingAxis().normalized();
btPlaneSpace1(sepNormalWorldSpace,v0,v1);
}
}
#endif //USE_SEPDISTANCE_UTIL2
//now perform 'm_numPerturbationIterations' collision queries with the perturbated collision objects
//perform perturbation when more then 'm_minimumPointsPerturbationThreshold' points
@@ -280,7 +292,7 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
#ifdef USE_SEPDISTANCE_UTIL2
if (dispatchInfo.m_useConvexConservativeDistanceUtil)
if (dispatchInfo.m_useConvexConservativeDistanceUtil && (sepDist>SIMD_EPSILON))
{
m_sepDistance.initSeparatingDistance(gjkPairDetector.getCachedSeparatingAxis(),sepDist,body0->getWorldTransform(),body1->getWorldTransform());
}