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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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src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp
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@@ -14,11 +14,10 @@ subject to the following restrictions:
*/
#include "btMinkowskiPenetrationDepthSolver.h"
#include "BulletCollision/CollisionShapes/btMinkowskiSumShape.h"
#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
#include "BulletCollision/CollisionShapes/btConvexShape.h"