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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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src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp
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@@ -172,7 +172,7 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
input.m_transformA = body0->m_worldTransform;
input.m_transformB = body1->m_worldTransform;
resultOut->setPersistentManifold(m_manifoldPtr);
m_gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);