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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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28
src/BulletCollision/CollisionShapes/btConvexHullShape.cpp
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@@ -22,14 +22,14 @@ subject to the following restrictions:
btConvexHullShape ::btConvexHullShape (const btScalar* points,int numPoints,int stride) : btPolyhedralConvexShape ()
{
m_shapeType = CONVEX_HULL_SHAPE_PROXYTYPE;
m_points.resize(numPoints);
m_unscaledPoints.resize(numPoints);
unsigned char* pointsBaseAddress = (unsigned char*)points;
for (int i=0;i<numPoints;i++)
{
btVector3* point = (btVector3*)(pointsBaseAddress + i*stride);
m_points[i] = point[0];
m_unscaledPoints[i] = point[0];
}
recalcLocalAabb();
@@ -46,7 +46,7 @@ void btConvexHullShape::setLocalScaling(const btVector3& scaling)
void btConvexHullShape::addPoint(const btVector3& point)
{
m_points.push_back(point);
m_unscaledPoints.push_back(point);
recalcLocalAabb();
}
@@ -68,9 +68,9 @@ btVector3 btConvexHullShape::localGetSupportingVertexWithoutMargin(const btVecto
}
for (int i=0;i<m_points.size();i++)
for (int i=0;i<m_unscaledPoints.size();i++)
{
btVector3 vtx = m_points[i] * m_localScaling;
btVector3 vtx = m_unscaledPoints[i] * m_localScaling;
newDot = vec.dot(vtx);
if (newDot > maxDot)
@@ -92,9 +92,9 @@ void btConvexHullShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const
supportVerticesOut[i][3] = btScalar(-1e30);
}
}
for (int i=0;i<m_points.size();i++)
for (int i=0;i<m_unscaledPoints.size();i++)
{
btVector3 vtx = m_points[i] * m_localScaling;
btVector3 vtx = getScaledPoint(i);
for (int j=0;j<numVectors;j++)
{
@@ -145,26 +145,26 @@ btVector3 btConvexHullShape::localGetSupportingVertex(const btVector3& vec)const
//Please note that you can debug-draw btConvexHullShape with the Raytracer Demo
int btConvexHullShape::getNumVertices() const
{
return m_points.size();
return m_unscaledPoints.size();
}
int btConvexHullShape::getNumEdges() const
{
return m_points.size();
return m_unscaledPoints.size();
}
void btConvexHullShape::getEdge(int i,btVector3& pa,btVector3& pb) const
{
int index0 = i%m_points.size();
int index1 = (i+1)%m_points.size();
pa = m_points[index0]*m_localScaling;
pb = m_points[index1]*m_localScaling;
int index0 = i%m_unscaledPoints.size();
int index1 = (i+1)%m_unscaledPoints.size();
pa = getScaledPoint(index0);
pb = getScaledPoint(index1);
}
void btConvexHullShape::getVertex(int i,btVector3& vtx) const
{
vtx = m_points[i]*m_localScaling;
vtx = getScaledPoint(i);
}
int btConvexHullShape::getNumPlanes() const