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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/btConvexShape.h
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@@ -36,29 +36,26 @@ public:
BT_DECLARE_ALIGNED_ALLOCATOR();
btConvexShape ()
{
}
btConvexShape ();
virtual ~btConvexShape()
{
virtual ~btConvexShape();
}
virtual btVector3 localGetSupportingVertex(const btVector3& vec)const = 0;
virtual btVector3 localGetSupportingVertex(const btVector3& vec)const =0;
#ifndef __SPU__
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const= 0;
//notice that the vectors should be unit length
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const= 0;
#endif //#ifndef __SPU__
////////
#ifndef __SPU__
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const=0;
#endif //#ifndef __SPU__
btVector3 localGetSupportVertexWithoutMarginNonVirtual (const btVector3& vec) const;
btVector3 localGetSupportVertexNonVirtual (const btVector3& vec) const;
btScalar getMarginNonVirtual () const;
void getAabbNonVirtual (const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
//notice that the vectors should be unit length
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const= 0;
///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const =0;
@@ -75,6 +72,9 @@ public:
virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const=0;
};