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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/CollisionDispatch/btCollisionDispatcher.h
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@@ -56,7 +56,7 @@ class btCollisionDispatcher : public btDispatcher
btCollisionAlgorithmCreateFunc* m_swappedCompoundCreateFunc;
btCollisionAlgorithmCreateFunc* m_emptyCreateFunc;
btCollisionAlgorithm* internalFindAlgorithm(btCollisionObject* body0,btCollisionObject* body1);
btCollisionAlgorithm* internalFindAlgorithm(btCollisionObject* body0,btCollisionObject* body1,btPersistentManifold* sharedManifold = 0);
public:
@@ -114,7 +114,7 @@ public:
virtual void clearManifold(btPersistentManifold* manifold);
btCollisionAlgorithm* findAlgorithm(btCollisionObject* body0,btCollisionObject* body1);
btCollisionAlgorithm* findAlgorithm(btCollisionObject* body0,btCollisionObject* body1,btPersistentManifold* sharedManifold = 0);
virtual bool needsCollision(btCollisionObject* body0,btCollisionObject* body1);