diff options
Diffstat (limited to 'extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp')
-rw-r--r-- | extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp | 13 |
1 files changed, 3 insertions, 10 deletions
diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp index c4f84ed4d75..05573c7cfce 100644 --- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp +++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp @@ -17,13 +17,14 @@ subject to the following restrictions: #include "BulletCollision/CollisionShapes/btConvexShape.h" #include "btGjkEpaPenetrationDepthSolver.h" -#include "BulletCollision/NarrowPhaseCollision/btGjkEpa.h" + + #include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h" bool btGjkEpaPenetrationDepthSolver::calcPenDepth( btSimplexSolverInterface& simplexSolver, const btConvexShape* pConvexA, const btConvexShape* pConvexB, const btTransform& transformA, const btTransform& transformB, - btVector3& v, btPoint3& wWitnessOnA, btPoint3& wWitnessOnB, + btVector3& v, btVector3& wWitnessOnA, btVector3& wWitnessOnB, class btIDebugDraw* debugDraw, btStackAlloc* stackAlloc ) { @@ -33,20 +34,12 @@ bool btGjkEpaPenetrationDepthSolver::calcPenDepth( btSimplexSolverInterface& sim const btScalar radialmargin(btScalar(0.)); -//#define USE_ORIGINAL_GJK 1 -#ifdef USE_ORIGINAL_GJK - btGjkEpaSolver::sResults results; - if(btGjkEpaSolver::Collide( pConvexA,transformA, - pConvexB,transformB, - radialmargin,stackAlloc,results)) -#else btVector3 guessVector(transformA.getOrigin()-transformB.getOrigin()); btGjkEpaSolver2::sResults results; if(btGjkEpaSolver2::Penetration(pConvexA,transformA, pConvexB,transformB, guessVector,results)) -#endif { // debugDraw->drawLine(results.witnesses[1],results.witnesses[1]+results.normal,btVector3(255,0,0)); //resultOut->addContactPoint(results.normal,results.witnesses[1],-results.depth); |