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, 12 insertions, 1 deletions
diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp index 87330493b60..c4f84ed4d75 100644 --- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp +++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp @@ -18,9 +18,10 @@ 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, - btConvexShape* pConvexA, btConvexShape* pConvexB, + const btConvexShape* pConvexA, const btConvexShape* pConvexB, const btTransform& transformA, const btTransform& transformB, btVector3& v, btPoint3& wWitnessOnA, btPoint3& wWitnessOnB, class btIDebugDraw* debugDraw, btStackAlloc* stackAlloc ) @@ -32,10 +33,20 @@ 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); |