Page MenuHome
Differential D1739 Diff 5899 extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.cpp

Changeset View

Standalone View

View Options

extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.cpp

Show First 20 Lines • Show All 110 Lines • ▼ Show 20 Lines
} }
static int gActualSATPairTests=0; static int gActualSATPairTests=0;
inline bool IsAlmostZero(const btVector3& v) inline bool IsAlmostZero(const btVector3& v)
{ {
if(fabsf(v.x())>1e-6 || fabsf(v.y())>1e-6 || fabsf(v.z())>1e-6) return false; if(btFabs(v.x())>1e-6 || btFabs(v.y())>1e-6 || btFabs(v.z())>1e-6) return false;
return true; return true;
} }
#ifdef TEST_INTERNAL_OBJECTS #ifdef TEST_INTERNAL_OBJECTS
inline void BoxSupport(const btScalar extents[3], const btScalar sv[3], btScalar p[3]) inline void BoxSupport(const btScalar extents[3], const btScalar sv[3], btScalar p[3])
{ {
// This version is ~11.000 cycles (4%) faster overall in one of the tests. // This version is ~11.000 cycles (4%) faster overall in one of the tests.
▲ Show 20 Lines • Show All 180 Lines • ▼ Show 20 Lines#endif
} }
} }
btVector3 edgeAstart,edgeAend,edgeBstart,edgeBend; btVector3 edgeAstart,edgeAend,edgeBstart,edgeBend;
int edgeA=-1; int edgeA=-1;
int edgeB=-1; int edgeB=-1;
btVector3 worldEdgeA; btVector3 worldEdgeA;
btVector3 worldEdgeB; btVector3 worldEdgeB;
btVector3 witnessPointA,witnessPointB; btVector3 witnessPointA(0,0,0),witnessPointB(0,0,0);
int curEdgeEdge = 0; int curEdgeEdge = 0;
// Test edges // Test edges
for(int e0=0;e0<hullA.m_uniqueEdges.size();e0++) for(int e0=0;e0<hullA.m_uniqueEdges.size();e0++)
{ {
const btVector3 edge0 = hullA.m_uniqueEdges[e0]; const btVector3 edge0 = hullA.m_uniqueEdges[e0];
const btVector3 WorldEdge0 = transA.getBasis() * edge0; const btVector3 WorldEdge0 = transA.getBasis() * edge0;
▲ Show 20 Lines • Show All 246 Lines • Show Last 20 Lines