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Fix shapekey swapping issue with triangle meshes, see http://code.google.com/p/bullet/issues/detail?id=316

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Revert btHashKeyPtr and introduce btHashPtr (to avoid breaking API/COLLADA Converter), see http://code.google.com/p/bullet/issues/detail?id=318
Disable separating distance util (it just costs CPU cycles and is disabled by default in the API anyway)
This commit is contained in:
erwin.coumans
2009-12-13 15:40:21 +00:00
parent 91f1e8117b
commit 8444d0e5c4
4 changed files with 90 additions and 63 deletions
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12
src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp
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@@ -332,7 +332,11 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
#ifdef USE_SEPDISTANCE_UTIL2
m_sepDistance.updateSeparatingDistance(body0->getWorldTransform(),body1->getWorldTransform());
if (dispatchInfo.m_useConvexConservativeDistanceUtil)
{
m_sepDistance.updateSeparatingDistance(body0->getWorldTransform(),body1->getWorldTransform());
}
if (!dispatchInfo.m_useConvexConservativeDistanceUtil || m_sepDistance.getConservativeSeparatingDistance()<=0.f)
#endif //USE_SEPDISTANCE_UTIL2
@@ -385,7 +389,7 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
//now perform 'm_numPerturbationIterations' collision queries with the perturbated collision objects
//perform perturbation when more then 'm_minimumPointsPerturbationThreshold' points
if (resultOut->getPersistentManifold()->getNumContacts() < m_minimumPointsPerturbationThreshold)
if (m_numPerturbationIterations && resultOut->getPersistentManifold()->getNumContacts() < m_minimumPointsPerturbationThreshold)
{
int i;
@@ -418,6 +422,8 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
for ( i=0;i<m_numPerturbationIterations;i++)
{
if (v0.length2()>SIMD_EPSILON)
{
btQuaternion perturbeRot(v0,perturbeAngle);
btScalar iterationAngle = i*(SIMD_2_PI/btScalar(m_numPerturbationIterations));
btQuaternion rotq(sepNormalWorldSpace,iterationAngle);
@@ -441,7 +447,7 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
btPerturbedContactResult perturbedResultOut(resultOut,input.m_transformA,input.m_transformB,unPerturbedTransform,perturbeA,dispatchInfo.m_debugDraw);
gjkPairDetector.getClosestPoints(input,perturbedResultOut,dispatchInfo.m_debugDraw);
}
}
}