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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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Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGjkPairDetector.cpp
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@@ -36,7 +36,7 @@ int gSpuNumGjkChecks = 0;
SpuGjkPairDetector::SpuGjkPairDetector(void* objectA,void* objectB,int shapeTypeA, int shapeTypeB, float marginA,float marginB,SpuVoronoiSimplexSolver* simplexSolver, const SpuConvexPenetrationDepthSolver* penetrationDepthSolver)
SpuGjkPairDetector::SpuGjkPairDetector(void* objectA,void* objectB,int shapeTypeA, int shapeTypeB, float marginA,float marginB,btVoronoiSimplexSolver* simplexSolver, const SpuConvexPenetrationDepthSolver* penetrationDepthSolver)
:m_cachedSeparatingAxis(float(0.),float(0.),float(1.)),
m_penetrationDepthSolver(penetrationDepthSolver),
m_simplexSolver(simplexSolver),