enable convex separation util, potentially improves performance. set threshold to zero (docs follow)

fix scaling issue with btConvexHullShape
use virtual getSupportingVertex on non-SPU platform

src/BulletCollision/BroadphaseCollision/btDispatcher.h

@@ -47,7 +47,7 @@ struct btDispatcherInfo
 		m_useEpa(true),
 		m_allowedCcdPenetration(btScalar(0.04)),
 		m_useConvexConservativeDistanceUtil(true),
-		m_convexConservativeDistanceThreshold(0.01f),
+		m_convexConservativeDistanceThreshold(0.0f),
 		m_stackAllocator(0)
 	{
 

src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp

@@ -129,22 +129,31 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
 	//TODO: if (dispatchInfo.m_useContinuous)
 	gjkPairDetector.setMinkowskiA(min0);
 	gjkPairDetector.setMinkowskiB(min1);
-	input.m_maximumDistanceSquared = 1e30f;//min0->getMargin() + min1->getMargin() + m_manifoldPtr->getContactBreakingThreshold();
+
-	//input.m_maximumDistanceSquared*= input.m_maximumDistanceSquared;
+#ifdef USE_SEPDISTANCE_UTIL2
+	if (dispatchInfo.m_useConvexConservativeDistanceUtil)
+	{
+		input.m_maximumDistanceSquared = 1e30f;
+	} else
+#endif //USE_SEPDISTANCE_UTIL2
+	{
+		input.m_maximumDistanceSquared = min0->getMargin() + min1->getMargin() + m_manifoldPtr->getContactBreakingThreshold();
+		input.m_maximumDistanceSquared*= input.m_maximumDistanceSquared;
+	}
+
 	input.m_stackAlloc = dispatchInfo.m_stackAllocator;
-
-//	input.m_maximumDistanceSquared = btScalar(1e30);
-	
 	input.m_transformA = body0->getWorldTransform();
 	input.m_transformB = body1->getWorldTransform();
 
 	gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
 
-
 	btScalar sepDist = gjkPairDetector.getCachedSeparatingDistance()+dispatchInfo.m_convexConservativeDistanceThreshold;
 
 #ifdef USE_SEPDISTANCE_UTIL2
-	m_sepDistance.initSeparatingDistance(m_gjkPairDetector.getCachedSeparatingAxis(),sepDist,body0->getWorldTransform(),body1->getWorldTransform());
+	if (dispatchInfo.m_useConvexConservativeDistanceUtil)
+	{
+		m_sepDistance.initSeparatingDistance(gjkPairDetector.getCachedSeparatingAxis(),sepDist,body0->getWorldTransform(),body1->getWorldTransform());
+	}
 #endif //USE_SEPDISTANCE_UTIL2
 
 

src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h

@@ -27,7 +27,7 @@ subject to the following restrictions:
 
 class btConvexPenetrationDepthSolver;
 
-//#define USE_SEPDISTANCE_UTIL2 1
+#define USE_SEPDISTANCE_UTIL2 1
 
 ///ConvexConvexAlgorithm collision algorithm implements time of impact, convex closest points and penetration depth calculations.
 class btConvexConvexAlgorithm : public btCollisionAlgorithm

src/BulletCollision/CollisionShapes/btConvexHullShape.cpp

@@ -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 index0 = i%m_unscaledPoints.size();
-	int index1 = (i+1)%m_points.size();
+	int index1 = (i+1)%m_unscaledPoints.size();
-	pa = m_points[index0]*m_localScaling;
+	pa = getScaledPoint(index0);
-	pb = m_points[index1]*m_localScaling;
+	pb = getScaledPoint(index1);
 }
 
 void btConvexHullShape::getVertex(int i,btVector3& vtx) const
 {
-	vtx = m_points[i]*m_localScaling;
+	vtx = getScaledPoint(i);
 }
 
 int	btConvexHullShape::getNumPlanes() const

src/BulletCollision/CollisionShapes/btConvexHullShape.h

@@ -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;

src/BulletCollision/CollisionShapes/btConvexInternalShape.cpp

@@ -17,8 +17,9 @@ subject to the following restrictions:
 #include "btConvexInternalShape.h"
 
 
+
 btConvexInternalShape::btConvexInternalShape()
-: btConvexShape (), m_localScaling(btScalar(1.),btScalar(1.),btScalar(1.)),
+: m_localScaling(btScalar(1.),btScalar(1.),btScalar(1.)),
 m_collisionMargin(CONVEX_DISTANCE_MARGIN)
 {
 }
@@ -51,6 +52,7 @@ void	btConvexInternalShape::getAabbSlow(const btTransform& trans,btVector3&minAa
 }
 
 
+
 btVector3	btConvexInternalShape::localGetSupportingVertex(const btVector3& vec)const
 {
 #ifndef __SPU__
@@ -70,6 +72,7 @@ btVector3	btConvexInternalShape::localGetSupportingVertex(const btVector3& vec)c
 	return supVertex;
 
 #else
+	btAssert(0);
 	return btVector3(0,0,0);
 #endif //__SPU__
 

src/BulletCollision/CollisionShapes/btConvexInternalShape.h

@@ -30,14 +30,7 @@ public:
 
 	}
 
-
 	virtual btVector3	localGetSupportingVertex(const btVector3& vec)const;
-#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__
 
 	const btVector3& getImplicitShapeDimensions() const
 	{

src/BulletCollision/CollisionShapes/btConvexPointCloudShape.cpp

@@ -43,7 +43,7 @@ btVector3	btConvexPointCloudShape::localGetSupportingVertexWithoutMargin(const b
 
 	for (int i=0;i<m_numPoints;i++)
 	{
-		btVector3 vtx = m_points[i] * m_localScaling;
+		btVector3 vtx = getScaledPoint(i);
 
 		newDot = vec.dot(vtx);
 		if (newDot > maxDot)
@@ -67,7 +67,7 @@ void	btConvexPointCloudShape::batchedUnitVectorGetSupportingVertexWithoutMargin(
 	}
 	for (int i=0;i<m_numPoints;i++)
 	{
-		btVector3 vtx = m_points[i] * m_localScaling;
+		btVector3 vtx = getScaledPoint(i);
 
 		for (int j=0;j<numVectors;j++)
 		{
@@ -133,7 +133,7 @@ void btConvexPointCloudShape::getEdge(int i,btVector3& pa,btVector3& pb) const
 
 void btConvexPointCloudShape::getVertex(int i,btVector3& vtx) const
 {
-	vtx = m_points[i]*m_localScaling;
+	vtx = m_unscaledPoints[i]*m_localScaling;
 }
 
 int	btConvexPointCloudShape::getNumPlanes() const

src/BulletCollision/CollisionShapes/btConvexPointCloudShape.h

@@ -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;

src/BulletCollision/CollisionShapes/btConvexShape.cpp

@@ -14,7 +14,6 @@ subject to the following restrictions:
 */
 
 #include "btConvexShape.h"
-#include "btConvexInternalShape.h"
 #include "btTriangleShape.h"
 #include "btSphereShape.h"
 #include "btCylinderShape.h"
@@ -22,7 +21,18 @@ subject to the following restrictions:
 #include "btConvexHullShape.h"
 #include "btConvexPointCloudShape.h"
 
-static btVector3 convexHullSupport (const btVector3& localDir, const btVector3* points, int numPoints)
+btConvexShape::btConvexShape ()
+{
+}
+
+btConvexShape::~btConvexShape()
+{
+
+}
+
+
+
+static btVector3 convexHullSupport (const btVector3& localDir, const btVector3* points, int numPoints, const btVector3& localScaling)
 {
 	btVector3 supVec(btScalar(0.),btScalar(0.),btScalar(0.));
 	btScalar newDot,maxDot = btScalar(-1e30);
@@ -41,7 +51,7 @@ static btVector3 convexHullSupport (const btVector3& localDir, const btVector3*
 
 	for (int i=0;i<numPoints;i++)
 	{
-		btVector3 vtx = points[i];// * m_localScaling;
+		btVector3 vtx = points[i] * localScaling;
 
 		newDot = vec.dot(vtx);
 		if (newDot > maxDot)
@@ -64,7 +74,7 @@ btVector3 btConvexShape::localGetSupportVertexWithoutMarginNonVirtual (const btV
 	break;
 	case BOX_SHAPE_PROXYTYPE:
 	{
-		btConvexInternalShape* convexShape = (btConvexInternalShape*)this;
+		btBoxShape* convexShape = (btBoxShape*)this;
 		const btVector3& halfExtents = convexShape->getImplicitShapeDimensions();
 
 		return btVector3(btFsels(localDir.x(), halfExtents.x(), -halfExtents.x()),
@@ -203,16 +213,16 @@ btVector3 btConvexShape::localGetSupportVertexWithoutMarginNonVirtual (const btV
 	case CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE:
 	{
 		btConvexPointCloudShape* convexPointCloudShape = (btConvexPointCloudShape*)this;
-		btVector3* points = convexPointCloudShape->getPoints ();
+		btVector3* points = convexPointCloudShape->getUnscaledPoints ();
 		int numPoints = convexPointCloudShape->getNumPoints ();
-		return convexHullSupport (localDir, points, numPoints);
+		return convexHullSupport (localDir, points, numPoints,convexPointCloudShape->getLocalScalingNV());
 	}
 	case CONVEX_HULL_SHAPE_PROXYTYPE:
 	{
 		btConvexHullShape* convexHullShape = (btConvexHullShape*)this;
-		btVector3* points = convexHullShape->getPoints ();
+		btVector3* points = convexHullShape->getUnscaledPoints();
 		int numPoints = convexHullShape->getNumPoints ();
-		return convexHullSupport (localDir, points, numPoints);
+		return convexHullSupport (localDir, points, numPoints,convexHullShape->getLocalScalingNV());
 	}
 	break;
     default:
@@ -237,174 +247,8 @@ btVector3 btConvexShape::localGetSupportVertexNonVirtual (const btVector3& local
 		localDirNorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.));
 	}
 	localDirNorm.normalize ();
-	switch (m_shapeType)
-	{
-    case SPHERE_SHAPE_PROXYTYPE:
-	{
-		return btVector3(0,0,0) + getMarginNonVirtual() * localDirNorm;
-    }
-	break;
-	case BOX_SHAPE_PROXYTYPE:
-	{
-		btConvexInternalShape* convexShape = (btConvexInternalShape*)this;
-		const btVector3& halfExtents = convexShape->getImplicitShapeDimensions();
 
-		return btVector3(localDir.getX() < 0.0f ? -halfExtents.x() : halfExtents.x(),
+	return localGetSupportVertexWithoutMarginNonVirtual(localDirNorm)+ getMarginNonVirtual() * localDirNorm;
-						localDir.getY() < 0.0f ? -halfExtents.y() : halfExtents.y(),
-						localDir.getZ() < 0.0f ? -halfExtents.z() : halfExtents.z()) + getMarginNonVirtual() * localDirNorm;
-	}
-	break;
-	case TRIANGLE_SHAPE_PROXYTYPE:
-	{
-		btTriangleShape* triangleShape = (btTriangleShape*)this;
-		btVector3 dir(localDir.getX(),localDir.getY(),localDir.getZ());
-		btVector3* vertices = &triangleShape->m_vertices1[0];
-		btVector3 dots(dir.dot(vertices[0]), dir.dot(vertices[1]), dir.dot(vertices[2]));
-		btVector3 sup = vertices[dots.maxAxis()];
-		return btVector3(sup.getX(),sup.getY(),sup.getZ()) + getMarginNonVirtual() * localDirNorm;
-	}
-	break;
-	case CYLINDER_SHAPE_PROXYTYPE:
-	{
-		btCylinderShape* cylShape = (btCylinderShape*)this;
-		//mapping of halfextents/dimension onto radius/height depends on how cylinder local orientation is (upAxis)
-
-		btVector3 halfExtents = cylShape->getImplicitShapeDimensions();
-		btVector3 v(localDir.getX(),localDir.getY(),localDir.getZ());
-		int cylinderUpAxis = cylShape->getUpAxis();
-		int XX(1),YY(0),ZZ(2);
-
-		switch (cylinderUpAxis)
-		{
-		case 0:
-		{
-			XX = 1;
-			YY = 0;
-			ZZ = 2;
-		}
-		break;
-		case 1:
-		{
-			XX = 0;
-			YY = 1;
-			ZZ = 2;	
-		}
-		break;
-		case 2:
-		{
-			XX = 0;
-			YY = 2;
-			ZZ = 1;
-			
-		}
-		break;
-		default:
-			btAssert(0);
-		break;
-		};
-
-		btScalar radius = halfExtents[XX];
-		btScalar halfHeight = halfExtents[cylinderUpAxis];
-
-		btVector3 tmp;
-		btScalar d ;
-
-		btScalar s = btSqrt(v[XX] * v[XX] + v[ZZ] * v[ZZ]);
-		if (s != btScalar(0.0))
-		{
-			d = radius / s;  
-			tmp[XX] = v[XX] * d;
-			tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
-			tmp[ZZ] = v[ZZ] * d;
-			return btVector3(tmp.getX(),tmp.getY(),tmp.getZ()) + getMarginNonVirtual() * localDirNorm;
-		} else {
-			tmp[XX] = radius;
-			tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
-			tmp[ZZ] = btScalar(0.0);
-			return btVector3(tmp.getX(),tmp.getY(),tmp.getZ()) + getMarginNonVirtual() * localDirNorm;
-		}
-	}
-	break;
-	case CAPSULE_SHAPE_PROXYTYPE:
-	{
-		btVector3 vec0(localDir.getX(),localDir.getY(),localDir.getZ());
-
-		btCapsuleShape* capsuleShape = (btCapsuleShape*)this;
-		btVector3 halfExtents = capsuleShape->getImplicitShapeDimensions();
-		btScalar halfHeight = capsuleShape->getHalfHeight();
-		int capsuleUpAxis = capsuleShape->getUpAxis();
-
-		btScalar radius = capsuleShape->getRadius();
-		btVector3 supVec(0,0,0);
-
-		btScalar maxDot(btScalar(-1e30));
-
-		btVector3 vec = vec0;
-		btScalar lenSqr = vec.length2();
-		if (lenSqr < btScalar(0.0001))
-		{
-			vec.setValue(1,0,0);
-		} else
-		{
-			btScalar rlen = btScalar(1.) / btSqrt(lenSqr );
-			vec *= rlen;
-		}
-		btVector3 vtx;
-		btScalar newDot;
-		{
-			btVector3 pos(0,0,0);
-			pos[capsuleUpAxis] = halfHeight;
-
-			vtx = pos +vec*(radius);
-			newDot = vec.dot(vtx);
-			if (newDot > maxDot)
-			{
-				maxDot = newDot;
-				supVec = vtx;
-			}
-		}
-		{
-			btVector3 pos(0,0,0);
-			pos[capsuleUpAxis] = -halfHeight;
-
-			vtx = pos +vec*(radius);
-			newDot = vec.dot(vtx);
-			if (newDot > maxDot)
-			{
-				maxDot = newDot;
-				supVec = vtx;
-			}
-		}
-		return btVector3(supVec.getX(),supVec.getY(),supVec.getZ()) + getMarginNonVirtual() * localDirNorm;
-	}
-	break;
-	case CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE:
-	{
-		btConvexPointCloudShape* convexPointCloudShape = (btConvexPointCloudShape*)this;
-		btVector3* points = convexPointCloudShape->getPoints ();
-		int numPoints = convexPointCloudShape->getNumPoints ();
-		return convexHullSupport (localDir, points, numPoints) + getMarginNonVirtual() * localDirNorm;
-	}
-	case CONVEX_HULL_SHAPE_PROXYTYPE:
-	{
-		btConvexHullShape* convexHullShape = (btConvexHullShape*)this;
-		btVector3* points = convexHullShape->getPoints ();
-		int numPoints = convexHullShape->getNumPoints ();
-		return convexHullSupport (localDir, points, numPoints) + getMarginNonVirtual() * localDirNorm;
-	}
-	break;
-    default:
-#ifndef __SPU__
-		return this->localGetSupportingVertex (localDir);
-#else
-		btAssert (0);
-#endif
-	break;
-	}
-
-	// should never reach here
-	btAssert (0);
-	return btVector3 (btScalar(0.0f), btScalar(0.0f), btScalar(0.0f));
 }
 
 /* TODO: This should be bumped up to btCollisionShape () */
@@ -420,7 +264,7 @@ btScalar btConvexShape::getMarginNonVirtual () const
 	break;
 	case BOX_SHAPE_PROXYTYPE:
 	{
-		btConvexInternalShape* convexShape = (btConvexInternalShape*)this;
+		btBoxShape* convexShape = (btBoxShape*)this;
 		return convexShape->getMarginNV ();
 	}
 	break;
@@ -483,7 +327,7 @@ void btConvexShape::getAabbNonVirtual (const btTransform& t, btVector3& aabbMin,
 	/* fall through */
 	case BOX_SHAPE_PROXYTYPE:
 	{
-		btConvexInternalShape* convexShape = (btConvexInternalShape*)this;
+		btBoxShape* convexShape = (btBoxShape*)this;
 		float margin=convexShape->getMarginNonVirtual();
 		btVector3 halfExtents = convexShape->getImplicitShapeDimensions();
 		halfExtents += btVector3(margin,margin,margin);

src/BulletCollision/CollisionShapes/btConvexShape.h

@@ -36,22 +36,15 @@ public:
 
 	BT_DECLARE_ALIGNED_ALLOCATOR();
 
-	btConvexShape ()
+	btConvexShape ();
-	{
-	}
-
-	virtual ~btConvexShape()
-	{
-
-	}
 
+	virtual ~btConvexShape();
 
 	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__
 
 	btVector3 localGetSupportVertexWithoutMarginNonVirtual (const btVector3& vec) const;
@@ -59,6 +52,10 @@ public:
 	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;
 
+
+	
+	
 };
 
 

src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp

@@ -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 marginAv = m_minkowskiA->getMarginNonVirtual();
-	btScalar marginBv = m_minkowskiB->getMargin();
+	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);