+ disable perturbation for btConvexPlaneCollisionAlgorithm, it introduces artifacts (additional points cause spheres/cylinders and other curved objects to move)
+ applied patch to mix double/single precision meshes independent from double/single precision Bullet build Thanks to Ole for the patch, http://code.google.com/p/bullet/issues/detail?id=213 + re-enable warming starting in constraint solver, it was disabled by accident + fix btConvexHullShape constructor, so accept vertices with non-16-byte striding Thanks Shawn Baird for report and fix: http://code.google.com/p/bullet/issues/detail?id=204
This commit is contained in:
erwin.coumans
@@ -23,66 +23,127 @@ btStridingMeshInterface::~btStridingMeshInterface()
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void btStridingMeshInterface::InternalProcessAllTriangles(btInternalTriangleIndexCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const
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{
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(void)aabbMin;
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(void)aabbMax;
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int numtotalphysicsverts = 0;
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int part,graphicssubparts = getNumSubParts();
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const unsigned char * vertexbase;
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const unsigned char * indexbase;
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int indexstride;
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PHY_ScalarType type;
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PHY_ScalarType gfxindextype;
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int stride,numverts,numtriangles;
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int gfxindex;
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btVector3 triangle[3];
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btScalar* graphicsbase;
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(void)aabbMin;
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(void)aabbMax;
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int numtotalphysicsverts = 0;
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int part,graphicssubparts = getNumSubParts();
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const unsigned char * vertexbase;
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const unsigned char * indexbase;
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int indexstride;
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PHY_ScalarType type;
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PHY_ScalarType gfxindextype;
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int stride,numverts,numtriangles;
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int gfxindex;
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btVector3 triangle[3];
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btVector3 meshScaling = getScaling();
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btVector3 meshScaling = getScaling();
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///if the number of parts is big, the performance might drop due to the innerloop switch on indextype
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for (part=0;part<graphicssubparts ;part++)
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{
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getLockedReadOnlyVertexIndexBase(&vertexbase,numverts,type,stride,&indexbase,indexstride,numtriangles,gfxindextype,part);
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numtotalphysicsverts+=numtriangles*3; //upper bound
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///if the number of parts is big, the performance might drop due to the innerloop switch on indextype
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for (part=0;part<graphicssubparts ;part++)
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{
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getLockedReadOnlyVertexIndexBase(&vertexbase,numverts,type,stride,&indexbase,indexstride,numtriangles,gfxindextype,part);
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numtotalphysicsverts+=numtriangles*3; //upper bound
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switch (gfxindextype)
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{
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case PHY_INTEGER:
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{
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for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
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{
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unsigned int* tri_indices= (unsigned int*)(indexbase+gfxindex*indexstride);
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graphicsbase = (btScalar*)(vertexbase+tri_indices[0]*stride);
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triangle[0].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ());
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graphicsbase = (btScalar*)(vertexbase+tri_indices[1]*stride);
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triangle[1].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(), graphicsbase[2]*meshScaling.getZ());
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graphicsbase = (btScalar*)(vertexbase+tri_indices[2]*stride);
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triangle[2].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(), graphicsbase[2]*meshScaling.getZ());
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callback->internalProcessTriangleIndex(triangle,part,gfxindex);
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}
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break;
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}
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case PHY_SHORT:
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{
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for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
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{
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unsigned short int* tri_indices= (unsigned short int*)(indexbase+gfxindex*indexstride);
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graphicsbase = (btScalar*)(vertexbase+tri_indices[0]*stride);
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triangle[0].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ());
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graphicsbase = (btScalar*)(vertexbase+tri_indices[1]*stride);
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triangle[1].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(), graphicsbase[2]*meshScaling.getZ());
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graphicsbase = (btScalar*)(vertexbase+tri_indices[2]*stride);
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triangle[2].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(), graphicsbase[2]*meshScaling.getZ());
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callback->internalProcessTriangleIndex(triangle,part,gfxindex);
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}
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break;
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}
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default:
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btAssert((gfxindextype == PHY_INTEGER) || (gfxindextype == PHY_SHORT));
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}
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///unlike that developers want to pass in double-precision meshes in single-precision Bullet build
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///so disable this feature by default
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///see patch http://code.google.com/p/bullet/issues/detail?id=213
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unLockReadOnlyVertexBase(part);
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}
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#ifdef BT_USE_DOUBLE_PRECISION
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switch (type)
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{
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case PHY_FLOAT:
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#endif
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{
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float* graphicsbase;
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switch (gfxindextype)
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{
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case PHY_INTEGER:
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{
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for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
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{
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unsigned int* tri_indices= (unsigned int*)(indexbase+gfxindex*indexstride);
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graphicsbase = (float*)(vertexbase+tri_indices[0]*stride);
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triangle[0].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ());
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graphicsbase = (float*)(vertexbase+tri_indices[1]*stride);
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triangle[1].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(), graphicsbase[2]*meshScaling.getZ());
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graphicsbase = (float*)(vertexbase+tri_indices[2]*stride);
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triangle[2].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(), graphicsbase[2]*meshScaling.getZ());
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callback->internalProcessTriangleIndex(triangle,part,gfxindex);
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}
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break;
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}
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case PHY_SHORT:
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{
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for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
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{
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unsigned short int* tri_indices= (unsigned short int*)(indexbase+gfxindex*indexstride);
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graphicsbase = (float*)(vertexbase+tri_indices[0]*stride);
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triangle[0].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ());
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graphicsbase = (float*)(vertexbase+tri_indices[1]*stride);
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triangle[1].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(), graphicsbase[2]*meshScaling.getZ());
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graphicsbase = (float*)(vertexbase+tri_indices[2]*stride);
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triangle[2].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(), graphicsbase[2]*meshScaling.getZ());
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callback->internalProcessTriangleIndex(triangle,part,gfxindex);
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}
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break;
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}
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default:
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btAssert((gfxindextype == PHY_INTEGER) || (gfxindextype == PHY_SHORT));
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}
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break;
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}
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#ifdef BT_USE_DOUBLE_PRECISION
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case PHY_DOUBLE:
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{
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double* graphicsbase;
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switch (gfxindextype)
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{
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case PHY_INTEGER:
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{
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for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
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{
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unsigned int* tri_indices= (unsigned int*)(indexbase+gfxindex*indexstride);
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graphicsbase = (double*)(vertexbase+tri_indices[0]*stride);
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triangle[0].setValue((btScalar)graphicsbase[0]*meshScaling.getX(),(btScalar)graphicsbase[1]*meshScaling.getY(),(btScalar)graphicsbase[2]*meshScaling.getZ());
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graphicsbase = (double*)(vertexbase+tri_indices[1]*stride);
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triangle[1].setValue((btScalar)graphicsbase[0]*meshScaling.getX(),(btScalar)graphicsbase[1]*meshScaling.getY(), (btScalar)graphicsbase[2]*meshScaling.getZ());
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graphicsbase = (double*)(vertexbase+tri_indices[2]*stride);
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triangle[2].setValue((btScalar)graphicsbase[0]*meshScaling.getX(),(btScalar)graphicsbase[1]*meshScaling.getY(), (btScalar)graphicsbase[2]*meshScaling.getZ());
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callback->internalProcessTriangleIndex(triangle,part,gfxindex);
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}
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break;
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}
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case PHY_SHORT:
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{
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for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
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{
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unsigned short int* tri_indices= (unsigned short int*)(indexbase+gfxindex*indexstride);
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graphicsbase = (double*)(vertexbase+tri_indices[0]*stride);
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triangle[0].setValue((btScalar)graphicsbase[0]*meshScaling.getX(),(btScalar)graphicsbase[1]*meshScaling.getY(),(btScalar)graphicsbase[2]*meshScaling.getZ());
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graphicsbase = (double*)(vertexbase+tri_indices[1]*stride);
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triangle[1].setValue((btScalar)graphicsbase[0]*meshScaling.getX(),(btScalar)graphicsbase[1]*meshScaling.getY(), (btScalar)graphicsbase[2]*meshScaling.getZ());
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graphicsbase = (double*)(vertexbase+tri_indices[2]*stride);
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triangle[2].setValue((btScalar)graphicsbase[0]*meshScaling.getX(),(btScalar)graphicsbase[1]*meshScaling.getY(), (btScalar)graphicsbase[2]*meshScaling.getZ());
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callback->internalProcessTriangleIndex(triangle,part,gfxindex);
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}
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break;
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}
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default:
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btAssert((gfxindextype == PHY_INTEGER) || (gfxindextype == PHY_SHORT));
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}
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break;
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}
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default:
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btAssert((type == PHY_FLOAT) || (type == PHY_DOUBLE));
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}
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#endif //BT_USE_DOUBLE_PRECISION
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unLockReadOnlyVertexBase(part);
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}
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}
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void btStridingMeshInterface::calculateAabbBruteForce(btVector3& aabbMin,btVector3& aabbMax)
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