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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/CollisionShapes/btConvexPointCloudShape.h
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@@ -23,15 +23,17 @@ subject to the following restrictions:
///The btConvexPointCloudShape implements an implicit convex hull of an array of vertices.
ATTRIBUTE_ALIGNED16(class) btConvexPointCloudShape : public btPolyhedralConvexShape
{
btVector3* m_points;
btVector3* m_unscaledPoints;
int m_numPoints;
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
btConvexPointCloudShape(btVector3* points,int numPoints, bool computeAabb = true)
btConvexPointCloudShape(btVector3* points,int numPoints, const btVector3& localScaling,bool computeAabb = true)
{
m_localScaling = localScaling;
m_shapeType = CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE;
m_points = points;
m_unscaledPoints = points;
m_numPoints = numPoints;
if (computeAabb)
@@ -40,28 +42,33 @@ public:
void setPoints (btVector3* points, int numPoints, bool computeAabb = true)
{
m_points = points;
m_unscaledPoints = points;
m_numPoints = numPoints;
if (computeAabb)
recalcLocalAabb();
}
btVector3* getPoints()
SIMD_FORCE_INLINE btVector3* getUnscaledPoints()
{
return m_points;
return m_unscaledPoints;
}
const btVector3* getPoints() const
SIMD_FORCE_INLINE const btVector3* getUnscaledPoints() const
{
return m_points;
return m_unscaledPoints;
}
int getNumPoints() const
SIMD_FORCE_INLINE int getNumPoints() const
{
return m_numPoints;
}
SIMD_FORCE_INLINE btVector3 getScaledPoint( int index) const
{
return m_unscaledPoints[index] * m_localScaling;
}
#ifndef __SPU__
virtual btVector3 localGetSupportingVertex(const btVector3& vec)const;
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const;