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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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1456
src/BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp
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25
src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
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@@ -64,17 +64,21 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result&
localTransA.getOrigin() -= positionOffset;
localTransB.getOrigin() -= positionOffset;
#ifdef __SPU__
btScalar marginA = m_minkowskiA->getMarginNonVirtual();
btScalar marginB = m_minkowskiB->getMarginNonVirtual();
#else
btScalar marginA = m_minkowskiA->getMargin();
btScalar marginB = m_minkowskiB->getMargin();
#ifdef TEST_NON_VIRTUAL
btScalar marginAv = m_minkowskiA->getMargin();
btScalar marginBv = m_minkowskiB->getMargin();
btScalar marginAv = m_minkowskiA->getMarginNonVirtual();
btScalar marginBv = m_minkowskiB->getMarginNonVirtual();
btAssert(marginA == marginAv);
btAssert(marginB == marginBv);
#endif //TEST_NON_VIRTUAL
#endif
gNumGjkChecks++;
@@ -119,16 +123,19 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result&
btVector3 seperatingAxisInA = (-m_cachedSeparatingAxis)* input.m_transformA.getBasis();
btVector3 seperatingAxisInB = m_cachedSeparatingAxis* input.m_transformB.getBasis();
#ifdef __SPU__
btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA);
btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB);
#else
btVector3 pInA = m_minkowskiA->localGetSupportingVertexWithoutMargin(seperatingAxisInA);
btVector3 qInB = m_minkowskiB->localGetSupportingVertexWithoutMargin(seperatingAxisInB);
#ifdef TEST_NON_VIRTUAL
btVector3 pInAv = m_minkowskiA->localGetSupportingVertexWithoutMargin(seperatingAxisInA);
btVector3 qInBv = m_minkowskiB->localGetSupportingVertexWithoutMargin(seperatingAxisInB);
#endif
btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA);
btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB);
#ifdef TEST_NON_VIRTUAL
btAssert((pInAv-pInA).length() < 0.0001);
btAssert((qInBv-qInB).length() < 0.0001);
#endif //
#endif //__SPU__
btVector3 pWorld = localTransA(pInA);
btVector3 qWorld = localTransB(qInB);