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Modification to SPU collision detection and ray cast code to share implementation of GJK, EPA, Minkowski penetration depth solver, voronoi simplex solver across multi-threaded and non-multi-threaded versions.

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john.mccutchan
2008-09-29 22:48:44 +00:00
parent 2b71784c86
commit f3b417df6c
15 changed files with 875 additions and 546 deletions
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7
Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuEpaPenetrationDepthSolver.cpp
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@@ -13,13 +13,14 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
#include "SpuEpaPenetrationDepthSolver.h"
#include "SpuVoronoiSimplexSolver.h"
#include "SpuGjkPairDetector.h"
#include "SpuContactResult.h"
#include "SpuGjkEpa2.h"
bool SpuEpaPenetrationDepthSolver::calcPenDepth( SpuVoronoiSimplexSolver& simplexSolver,
bool SpuEpaPenetrationDepthSolver::calcPenDepth( btVoronoiSimplexSolver& simplexSolver,
void* convexA,void* convexB,int shapeTypeA, int shapeTypeB, float marginA, float marginB,
btTransform& transA,const btTransform& transB,
btVector3& v, btPoint3& pa, btPoint3& pb,