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use Dispatcher in ConcaveConvexCollisionAlgorithm (so it uses the registered collision algorithm, not hardcoded convexconcave)

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improved performance of constraint solver by precalculating the cross product/impulse arm
added collision comparison code: ODE box-box, also sphere-triangle
added safety check into GJK, and an assert for AABB's that are very large
write partid/triangle index outside of GJK
This commit is contained in:
ejcoumans
2006-10-28 02:06:19 +00:00
parent 7987be45c5
commit 3fe3b11924
24 changed files with 730 additions and 90 deletions
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9
Demos/BasicDemo/BasicDemo.cpp
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@@ -15,7 +15,7 @@ subject to the following restrictions:
//#define USE_GROUND_BOX 1
#define PRINT_CONTACT_STATISTICS 1
//#define PRINT_CONTACT_STATISTICS 1
//#define CHECK_MEMORY_LEAKS 1
int gNumObjects = 120;
@@ -120,13 +120,12 @@ void BasicDemo::initPhysics()
m_sphereSphereCF = new btSphereSphereCollisionAlgorithm::CreateFunc;
m_dispatcher->registerCollisionCreateFunc(SPHERE_SHAPE_PROXYTYPE,SPHERE_SHAPE_PROXYTYPE,m_sphereSphereCF);
#ifdef USE_GROUND_BOX
m_sphereBoxCF = new btSphereBoxCollisionAlgorithm::CreateFunc;
m_boxSphereCF = new btSphereBoxCollisionAlgorithm::CreateFunc;
m_boxSphereCF->m_swapped = true;
m_dispatcher->registerCollisionCreateFunc(SPHERE_SHAPE_PROXYTYPE,BOX_SHAPE_PROXYTYPE,m_sphereBoxCF);
m_dispatcher->registerCollisionCreateFunc(BOX_SHAPE_PROXYTYPE,SPHERE_SHAPE_PROXYTYPE,m_boxSphereCF);
#endif //USE_GROUND_BOX
m_solver = new btSequentialImpulseConstraintSolver;
@@ -207,10 +206,10 @@ void BasicDemo::exitPhysics()
//delete collision algorithms creation functions
delete m_sphereSphereCF;
#ifdef USE_GROUND_BOX
delete m_sphereBoxCF;
delete m_boxSphereCF;
#endif// USE_GROUND_BOX
//delete solver
delete m_solver;