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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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19
src/BulletCollision/CollisionShapes/btConvexHullShape.h
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@@ -24,7 +24,7 @@ subject to the following restrictions:
///Bullet provides a general and fast collision detector for convex shapes based on GJK and EPA using localGetSupportingVertex.
ATTRIBUTE_ALIGNED16(class) btConvexHullShape : public btPolyhedralConvexShape
{
btAlignedObjectArray<btVector3> m_points;
btAlignedObjectArray<btVector3> m_unscaledPoints;
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
@@ -37,19 +37,24 @@ public:
void addPoint(const btVector3& point);
btVector3* getPoints()
btVector3* getUnscaledPoints()
{
return &m_points[0];
return &m_unscaledPoints[0];
}
const btVector3* getPoints() const
const btVector3* getUnscaledPoints() const
{
return &m_points[0];
return &m_unscaledPoints[0];
}
int getNumPoints() const
SIMD_FORCE_INLINE btVector3 getScaledPoint(int i) const
{
return m_points.size();
return m_unscaledPoints[i] * m_localScaling;
}
SIMD_FORCE_INLINE int getNumPoints() const
{
return m_unscaledPoints.size();
}
virtual btVector3 localGetSupportingVertex(const btVector3& vec)const;