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Remove co-planar faces from convex hull, using 2d Graham scan

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Improve SAT performance, by skipping back-facing features
Add assert in array class (probably fires in places)
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erwin.coumans
2011-05-20 12:29:24 +00:00
parent 20e95be9cd
commit b80e5fd167
10 changed files with 306 additions and 54 deletions
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src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
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@@ -1260,7 +1260,7 @@ void btCollisionWorld::debugDrawObject(const btTransform& worldTransform, const
btVector3 normalColor(1,1,0);
btVector3 faceNormal(poly->m_faces[i].m_plane[0],poly->m_faces[i].m_plane[1],poly->m_faces[i].m_plane[2]);
getDebugDrawer()->drawLine(worldTransform*centroid,worldTransform*(centroid+faceNormal),normalColor);
//getDebugDrawer()->drawLine(worldTransform*centroid,worldTransform*(centroid+faceNormal),normalColor);
}