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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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4
Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuMinkowskiPenetrationDepthSolver.h
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@@ -22,7 +22,7 @@ subject to the following restrictions:
class btStackAlloc;
class btIDebugDraw;
class SpuVoronoiSimplexSolver;
class btVoronoiSimplexSolver;
///MinkowskiPenetrationDepthSolver implements bruteforce penetration depth estimation.
///Implementation is based on sampling the depth using support mapping, and using GJK step to get the witness points.
@@ -30,7 +30,7 @@ class SpuMinkowskiPenetrationDepthSolver : public SpuConvexPenetrationDepthSolve
{
public:
virtual bool calcPenDepth( SpuVoronoiSimplexSolver& simplexSolver,
virtual bool 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,