Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Enable graphical benchmark by default in cmake

Browse Source 
Toggle between point to point and generic 6dof constraint for mouse picking in the demos

Use a 'equal vertex thresdhold' in the btVoronoiSimplexSolver of  0.0001f by default.
This can be disabled (or configured) using defaultCollisionConfiguration->getSimplexSolver()->setEqualVertexThreshold(0.f);
See http://code.google.com/p/bullet/issues/detail?id=305
This commit is contained in:
erwin.coumans
2010-02-24 01:28:23 +00:00
parent 1425feec26
commit e156967762
6 changed files with 136 additions and 62 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
src/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.cpp
View File

@@ -289,7 +289,11 @@ bool btVoronoiSimplexSolver::inSimplex(const btVector3& w)
//w is in the current (reduced) simplex
for (i=0;i<numverts;i++)
{
#ifdef BT_USE_EQUAL_VERTEX_THRESHOLD
if ( m_simplexVectorW[i].distance2(w) <= m_equalVertexThreshold)
#else
if (m_simplexVectorW[i] == w)
#endif
found = true;
}

21
src/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h
View File

@@ -24,6 +24,11 @@ subject to the following restrictions:
#define VORONOI_SIMPLEX_MAX_VERTS 5
///disable next define, or use defaultCollisionConfiguration->getSimplexSolver()->setEqualVertexThreshold(0.f) to disable/configure
#define BT_USE_EQUAL_VERTEX_THRESHOLD
#define VORONOI_DEFAULT_EQUAL_VERTEX_THRESHOLD 0.0001f
struct btUsageBitfield{
btUsageBitfield()
{
@@ -106,8 +111,11 @@ public:
btVector3 m_cachedP2;
btVector3 m_cachedV;
btVector3 m_lastW;
btScalar m_equalVertexThreshold;
bool m_cachedValidClosest;
btSubSimplexClosestResult m_cachedBC;
bool m_needsUpdate;
@@ -122,10 +130,23 @@ public:
public:
btVoronoiSimplexSolver()
: m_equalVertexThreshold(VORONOI_DEFAULT_EQUAL_VERTEX_THRESHOLD)
{
}
void reset();
void addVertex(const btVector3& w, const btVector3& p, const btVector3& q);
void setEqualVertexThreshold(btScalar threshold)
{
m_equalVertexThreshold = threshold;
}
btScalar getEqualVertexThreshold() const
{
return m_equalVertexThreshold;
}
bool closest(btVector3& v);