Changeset 2430 for code/branches/physics/src/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp

Timestamp:

Dec 13, 2008, 11:45:51 PM (17 years ago)

Author:

rgrieder

Message:

Updated to Bullet 2.73 (first part).

File:

• code/branches/physics/src/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp (modified) (5 diffs)

code/branches/physics/src/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp

@@ -22 +22 @@
 
 #if defined(DEBUG) || defined (_DEBUG)
-#define TEST_NON_VIRTUAL 1
+//#define TEST_NON_VIRTUAL 1
 #include <stdio.h> //for debug printf
 #ifdef __SPU__
@@ -54 +54 @@
 void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw,bool swapResults)
 {
+        m_cachedSeparatingDistance = 0.f;
+
         btScalar distance=btScalar(0.);
         btVector3       normalInB(btScalar(0.),btScalar(0.),btScalar(0.));
@@ -63 +65 @@
         localTransB.getOrigin() -= positionOffset;
 
-
+#ifdef __SPU__
         btScalar marginA = m_minkowskiA->getMarginNonVirtual();
         btScalar marginB = m_minkowskiB->getMarginNonVirtual();
-
+#else
+        btScalar marginA = m_minkowskiA->getMargin();
+        btScalar marginB = m_minkowskiB->getMargin();
 #ifdef TEST_NON_VIRTUAL
-        btScalar marginAv = m_minkowskiA->getMargin();
-        btScalar marginBv = m_minkowskiB->getMargin();
-
+        btScalar marginAv = m_minkowskiA->getMarginNonVirtual();
+        btScalar marginBv = m_minkowskiB->getMarginNonVirtual();
         btAssert(marginA == marginAv);
         btAssert(marginB == marginBv);
 #endif //TEST_NON_VIRTUAL
+#endif
+        
+
 
         gNumGjkChecks++;
@@ -118 +124 @@
                         btVector3 seperatingAxisInB = m_cachedSeparatingAxis* input.m_transformB.getBasis();
 
+#ifdef __SPU__
+                        btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA);
+                        btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB);
+#else
+                        btVector3 pInA = m_minkowskiA->localGetSupportingVertexWithoutMargin(seperatingAxisInA);
+                        btVector3 qInB = m_minkowskiB->localGetSupportingVertexWithoutMargin(seperatingAxisInB);
 #ifdef TEST_NON_VIRTUAL
                         btVector3 pInAv = m_minkowskiA->localGetSupportingVertexWithoutMargin(seperatingAxisInA);
                         btVector3 qInBv = m_minkowskiB->localGetSupportingVertexWithoutMargin(seperatingAxisInB);
-#endif 
-                        btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA);
-                        btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB);
-#ifdef TEST_NON_VIRTUAL
                         btAssert((pInAv-pInA).length() < 0.0001);
                         btAssert((qInBv-qInB).length() < 0.0001);
 #endif //
-
-                        btPoint3  pWorld = localTransA(pInA);   
-                        btPoint3  qWorld = localTransB(qInB);
+#endif //__SPU__
+
+                        btVector3  pWorld = localTransA(pInA);  
+                        btVector3  qWorld = localTransB(qInB);
 
 #ifdef DEBUG_SPU_COLLISION_DETECTION
@@ -332 +341 @@
                 spu_printf("output 1\n");
 #endif
+                m_cachedSeparatingAxis = normalInB;
+                m_cachedSeparatingDistance = distance;
+
                 output.addContactPoint(
                         normalInB,