Changeset 7983 for code/branches/kicklib/src/external/bullet/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h

Timestamp:

Feb 27, 2011, 7:43:24 AM (14 years ago)

Author:

rgrieder

Message:

Updated Bullet Physics Engine from v2.74 to v2.77

File:

• code/branches/kicklib/src/external/bullet/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h (modified) (3 diffs)

code/branches/kicklib/src/external/bullet/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h

@@ -24 +24 @@
 
 #define VORONOI_SIMPLEX_MAX_VERTS 5
+
+///disable next define, or use defaultCollisionConfiguration->getSimplexSolver()->setEqualVertexThreshold(0.f) to disable/configure
+#define BT_USE_EQUAL_VERTEX_THRESHOLD
+#define VORONOI_DEFAULT_EQUAL_VERTEX_THRESHOLD 0.0001f
+
 
 struct btUsageBitfield{
@@ -107 +112 @@
         btVector3       m_cachedV;
         btVector3       m_lastW;
+        
+        btScalar        m_equalVertexThreshold;
         bool            m_cachedValidClosest;
+
 
         btSubSimplexClosestResult m_cachedBC;
@@ -123 +131 @@
 public:
 
+        btVoronoiSimplexSolver()
+                :  m_equalVertexThreshold(VORONOI_DEFAULT_EQUAL_VERTEX_THRESHOLD)
+        {
+        }
          void reset();
 
          void addVertex(const btVector3& w, const btVector3& p, const btVector3& q);
 
+         void   setEqualVertexThreshold(btScalar threshold)
+         {
+                 m_equalVertexThreshold = threshold;
+         }
+
+         btScalar       getEqualVertexThreshold() const
+         {
+                 return m_equalVertexThreshold;
+         }
 
          bool closest(btVector3& v);