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some doxygen updates, added some comments to classes, fix broken links, rename some prefix some internal GIMPACT collision structures using (for example use GIM_AABB instead of BT_AAABB),

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removed obsolete btGjkEpa (it was replaced by btGjkEpa2 ages ago)
This commit is contained in:
erwin.coumans
2008-11-04 04:01:31 +00:00
parent 2b21eb5605
commit bcd0f48c28
83 changed files with 208 additions and 1089 deletions
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19
src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp
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@@ -38,7 +38,7 @@ subject to the following restrictions:
#include "BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkEpa.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
@@ -122,21 +122,6 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
{
#ifdef USE_BT_GJKEPA
btConvexShape* shape0(static_cast<btConvexShape*>(body0->getCollisionShape()));
btConvexShape* shape1(static_cast<btConvexShape*>(body1->getCollisionShape()));
const btScalar radialmargin(0/*shape0->getMargin()+shape1->getMargin()*/);
btGjkEpaSolver::sResults results;
if(btGjkEpaSolver::Collide( shape0,body0->getWorldTransform(),
shape1,body1->getWorldTransform(),
radialmargin,results))
{
dispatchInfo.m_debugDraw->drawLine(results.witnesses[1],results.witnesses[1]+results.normal,btVector3(255,0,0));
resultOut->addContactPoint(results.normal,results.witnesses[1],-results.depth);
}
#else
btGjkPairDetector::ClosestPointInput input;
@@ -154,7 +139,7 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
input.m_transformB = body1->getWorldTransform();
gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
#endif
btScalar sepDist = gjkPairDetector.getCachedSeparatingDistance()+dispatchInfo.m_convexConservativeDistanceThreshold;