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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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7
src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp
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@@ -142,13 +142,14 @@ void btCollisionDispatcher::releaseManifold(btPersistentManifold* manifold)
btCollisionAlgorithm* btCollisionDispatcher::findAlgorithm(btCollisionObject* body0,btCollisionObject* body1)
btCollisionAlgorithm* btCollisionDispatcher::findAlgorithm(btCollisionObject* body0,btCollisionObject* body1,btPersistentManifold* sharedManifold)
{
#define USE_DISPATCH_REGISTRY_ARRAY 1
#ifdef USE_DISPATCH_REGISTRY_ARRAY
btCollisionAlgorithmConstructionInfo ci;
ci.m_dispatcher = this;
ci.m_manifold = sharedManifold;
btCollisionAlgorithm* algo = m_doubleDispatch[body0->m_collisionShape->getShapeType()][body1->m_collisionShape->getShapeType()]
->CreateCollisionAlgorithm(ci,body0,body1);
#else
@@ -193,7 +194,7 @@ btCollisionAlgorithmCreateFunc* btCollisionDispatcher::internalFindCreateFunc(in
btCollisionAlgorithm* btCollisionDispatcher::internalFindAlgorithm(btCollisionObject* body0,btCollisionObject* body1)
btCollisionAlgorithm* btCollisionDispatcher::internalFindAlgorithm(btCollisionObject* body0,btCollisionObject* body1,btPersistentManifold* sharedManifold)
{
m_count++;
@@ -202,7 +203,7 @@ btCollisionAlgorithm* btCollisionDispatcher::internalFindAlgorithm(btCollisionOb
if (body0->m_collisionShape->isConvex() && body1->m_collisionShape->isConvex() )
{
return new btConvexConvexAlgorithm(0,ci,body0,body1);
return new btConvexConvexAlgorithm(sharedManifold,ci,body0,body1);
}
if (body0->m_collisionShape->isConvex() && body1->m_collisionShape->isConcave())