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+ fixed btMinkowskiSumShape Sa+b(v) = Sa(v)-Sb(-v) instead of Sa(v)+Sb(v)

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+ fix related btMinkowskiSumShape issue in btSubsimplexConvexCast and btGjkConvexCast
+ add hitpoint for btSubsimplexConvexCast
+ reduce maximum number of iterations in conservative advancement/CCD implementations
This commit is contained in:
erwin.coumans
2008-04-03 18:35:28 +00:00
parent 8ddbf12f1a
commit 883d3278ec
8 changed files with 139 additions and 128 deletions
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4
src/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp
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@@ -26,9 +26,9 @@ m_shapeB(shapeB)
btVector3 btMinkowskiSumShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)const
{
btVector3 supVertexA = m_transA(m_shapeA->localGetSupportingVertexWithoutMargin(vec*m_transA.getBasis()));
btVector3 supVertexA = m_transA(m_shapeA->localGetSupportingVertexWithoutMargin(-vec*m_transA.getBasis()));
btVector3 supVertexB = m_transB(m_shapeB->localGetSupportingVertexWithoutMargin(vec*m_transB.getBasis()));
return supVertexA + supVertexB;
return supVertexA - supVertexB;
}
void btMinkowskiSumShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const