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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)
This commit is contained in:
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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7
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
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@@ -675,7 +675,12 @@ void btDiscreteDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
{
if (m_manifolds.size() + m_constraints.size()>0)
{
m_solver->solveGroup( &m_bodies[0],m_bodies.size(), &m_manifolds[0], m_manifolds.size(), &m_constraints[0], m_constraints.size() ,m_solverInfo,m_debugDrawer,m_stackAlloc,m_dispatcher);
btCollisionObject** bodies = m_bodies.size()? &m_bodies[0]:0;
btPersistentManifold** manifold = m_manifolds.size()?&m_manifolds[0]:0;
btTypedConstraint** constraints = m_constraints.size()?&m_constraints[0]:0;
m_solver->solveGroup( bodies,m_bodies.size(),manifold, m_manifolds.size(),constraints, m_constraints.size() ,m_solverInfo,m_debugDrawer,m_stackAlloc,m_dispatcher);
}
m_bodies.resize(0);
m_manifolds.resize(0);