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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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4
src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h
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@@ -103,6 +103,10 @@ struct btBroadphaseProxy
{
return (proxyType == COMPOUND_SHAPE_PROXYTYPE);
}
static inline bool isInfinite(int proxyType)
{
return (proxyType == STATIC_PLANE_PROXYTYPE);
}
};

6
src/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h
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@@ -21,11 +21,14 @@ class btDispatcher;
class btManifoldResult;
struct btCollisionObject;
struct btDispatcherInfo;
class btPersistentManifold;
struct btCollisionAlgorithmConstructionInfo
{
btCollisionAlgorithmConstructionInfo()
:m_dispatcher(0)
:m_dispatcher(0),
m_manifold(0)
{
}
btCollisionAlgorithmConstructionInfo(btDispatcher* dispatcher,int temp)
@@ -34,6 +37,7 @@ struct btCollisionAlgorithmConstructionInfo
}
btDispatcher* m_dispatcher;
btPersistentManifold* m_manifold;
int getDispatcherId();

2
src/BulletCollision/BroadphaseCollision/btDispatcher.h
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@@ -65,7 +65,7 @@ class btDispatcher
public:
virtual ~btDispatcher() ;
virtual btCollisionAlgorithm* findAlgorithm(btCollisionObject* body0,btCollisionObject* body1) = 0;
virtual btCollisionAlgorithm* findAlgorithm(btCollisionObject* body0,btCollisionObject* body1,btPersistentManifold* sharedManifold=0) = 0;
//
// asume dispatchers to have unique id's in the range [0..max dispacher]