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Refactored SpuGatheringCollisionTask to use code in SpuCollisionShapes.

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More work on SpuBatchRaycaster. It is working now on the PS3 and Windows.
This commit is contained in:
johnmccutchan
2008-01-14 23:44:07 +00:00
parent 6ba6805b43
commit be0beaf7bd
20 changed files with 1190 additions and 1474 deletions
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8
Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGjkPairDetector.cpp
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@@ -15,7 +15,7 @@ subject to the following restrictions:
#include "SpuGjkPairDetector.h"
#include "SpuConvexPenetrationDepthSolver.h"
#include "SpuLocalSupport.h"
#include "SpuCollisionShapes.h"
@@ -106,8 +106,8 @@ void SpuGjkPairDetector::getClosestPoints(const SpuClosestPointInput& input,SpuC
// btVector3 pInA = m_minkowskiA->localGetSupportingVertexWithoutMargin(seperatingAxisInA);
// btVector3 qInB = m_minkowskiB->localGetSupportingVertexWithoutMargin(seperatingAxisInB);
btVector3 pInA = localGetSupportingVertexWithoutMargin(m_shapeTypeA, m_minkowskiA, seperatingAxisInA,input.m_convexVertexData);//, &featureIndexA);
btVector3 qInB = localGetSupportingVertexWithoutMargin(m_shapeTypeB, m_minkowskiB, seperatingAxisInB,input.m_convexVertexData);//, &featureIndexB);
btVector3 pInA = localGetSupportingVertexWithoutMargin(m_shapeTypeA, m_minkowskiA, seperatingAxisInA,input.m_convexVertexData[0]);//, &featureIndexA);
btVector3 qInB = localGetSupportingVertexWithoutMargin(m_shapeTypeB, m_minkowskiB, seperatingAxisInB,input.m_convexVertexData[1]);//, &featureIndexB);
btPoint3 pWorld = localTransA(pInA);
@@ -250,7 +250,7 @@ void SpuGjkPairDetector::getClosestPoints(const SpuClosestPointInput& input,SpuC
marginA, marginB,
localTransA,localTransB,
m_cachedSeparatingAxis, tmpPointOnA, tmpPointOnB,
0,input.m_stackAlloc,input.m_convexVertexData
0,input.m_stackAlloc,input.m_convexVertexData[0], input.m_convexVertexData[1]
);
if (isValid2)