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enable convex separation util, potentially improves performance. set threshold to zero (docs follow)

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fix scaling issue with btConvexHullShape
use virtual getSupportingVertex on non-SPU platform
This commit is contained in:
erwin.coumans
2008-11-06 23:38:18 +00:00
parent c1fc609d74
commit a4c205afc0
13 changed files with 847 additions and 979 deletions
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25
src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp
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@@ -129,22 +129,31 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
//TODO: if (dispatchInfo.m_useContinuous)
gjkPairDetector.setMinkowskiA(min0);
gjkPairDetector.setMinkowskiB(min1);
input.m_maximumDistanceSquared = 1e30f;//min0->getMargin() + min1->getMargin() + m_manifoldPtr->getContactBreakingThreshold();
//input.m_maximumDistanceSquared*= input.m_maximumDistanceSquared;
input.m_stackAlloc = dispatchInfo.m_stackAllocator;
// input.m_maximumDistanceSquared = btScalar(1e30);
#ifdef USE_SEPDISTANCE_UTIL2
if (dispatchInfo.m_useConvexConservativeDistanceUtil)
{
input.m_maximumDistanceSquared = 1e30f;
} else
#endif //USE_SEPDISTANCE_UTIL2
{
input.m_maximumDistanceSquared = min0->getMargin() + min1->getMargin() + m_manifoldPtr->getContactBreakingThreshold();
input.m_maximumDistanceSquared*= input.m_maximumDistanceSquared;
}
input.m_stackAlloc = dispatchInfo.m_stackAllocator;
input.m_transformA = body0->getWorldTransform();
input.m_transformB = body1->getWorldTransform();
gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
btScalar sepDist = gjkPairDetector.getCachedSeparatingDistance()+dispatchInfo.m_convexConservativeDistanceThreshold;
#ifdef USE_SEPDISTANCE_UTIL2
m_sepDistance.initSeparatingDistance(m_gjkPairDetector.getCachedSeparatingAxis(),sepDist,body0->getWorldTransform(),body1->getWorldTransform());
if (dispatchInfo.m_useConvexConservativeDistanceUtil)
{
m_sepDistance.initSeparatingDistance(gjkPairDetector.getCachedSeparatingAxis(),sepDist,body0->getWorldTransform(),body1->getWorldTransform());
}
#endif //USE_SEPDISTANCE_UTIL2