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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
src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h
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@@ -54,13 +54,6 @@ public:
void setLowLevelOfDetail(bool useLowLevel);
virtual void setShapeIdentifiers(int partId0,int index0, int partId1,int index1)
{
m_gjkPairDetector.m_partId0=partId0;
m_gjkPairDetector.m_partId1=partId1;
m_gjkPairDetector.m_index0=index0;
m_gjkPairDetector.m_index1=index1;
}
const btPersistentManifold* getManifold()
{
@@ -71,7 +64,7 @@ public:
{
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
{
return new btConvexConvexAlgorithm(0,ci,body0,body1);
return new btConvexConvexAlgorithm(ci.m_manifold,ci,body0,body1);
}
};