Changeset 2882 for code/trunk/src/bullet/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h

Timestamp:

Mar 31, 2009, 8:05:51 PM (16 years ago)

Author:

rgrieder

Message:

Update from Bullet 2.73 to 2.74.

File:

• code/trunk/src/bullet/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h (modified) (5 diffs)

code/trunk/src/bullet/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h

@@ -34 +34 @@
 ///#define USE_SEPDISTANCE_UTIL2 1
 
-///ConvexConvexAlgorithm collision algorithm implements time of impact, convex closest points and penetration depth calculations.
+///The convexConvexAlgorithm collision algorithm implements time of impact, convex closest points and penetration depth calculations between two convex objects.
+///Multiple contact points are calculated by perturbing the orientation of the smallest object orthogonal to the separating normal.
+///This idea was described by Gino van den Bergen in this forum topic http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=4&t=288&p=888#p888
 class btConvexConvexAlgorithm : public btActivatingCollisionAlgorithm
 {
@@ -48 +50 @@
         bool                    m_lowLevelOfDetail;
         
+        int m_numPerturbationIterations;
+        int m_minimumPointsPerturbationThreshold;
+
+
         ///cache separating vector to speedup collision detection
         
@@ -53 +59 @@
 public:
 
-        btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver);
+        btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold);
+
 
         virtual ~btConvexConvexAlgorithm();
@@ -79 +86 @@
         struct CreateFunc :public       btCollisionAlgorithmCreateFunc
         {
+
                 btConvexPenetrationDepthSolver*         m_pdSolver;
                 btSimplexSolverInterface*                       m_simplexSolver;
-                
+                int m_numPerturbationIterations;
+                int m_minimumPointsPerturbationThreshold;
+
                 CreateFunc(btSimplexSolverInterface*                    simplexSolver, btConvexPenetrationDepthSolver* pdSolver);
                 
@@ -89 +99 @@
                 {
                         void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexConvexAlgorithm));
-                        return new(mem) btConvexConvexAlgorithm(ci.m_manifold,ci,body0,body1,m_simplexSolver,m_pdSolver);
+                        return new(mem) btConvexConvexAlgorithm(ci.m_manifold,ci,body0,body1,m_simplexSolver,m_pdSolver,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold);
                 }
         };