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Code Issues Releases Wiki Activity

removed some obsolete/debugging stuff

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This commit is contained in:
ejcoumans 2006-10-07 02:18:05 +00:00
parent 04e5e70d31
commit 659207e7a3
2 changed files with 9 additions and 22 deletions
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4
src/BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h
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@ -27,8 +27,7 @@ subject to the following restrictions:
/// by taking closestPointInA = closestPointInB + m_distance * m_normalOnSurfaceB /// by taking closestPointInA = closestPointInB + m_distance * m_normalOnSurfaceB
struct btDiscreteCollisionDetectorInterface struct btDiscreteCollisionDetectorInterface
{ {
void operator delete(void* ptr) {};
struct Result struct Result
{ {
void operator delete(void* ptr) {}; void operator delete(void* ptr) {};
@ -60,7 +59,6 @@ struct btDiscreteCollisionDetectorInterface
// //
virtual void getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw) = 0; virtual void getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw) = 0;
btScalar getCollisionMargin() { return 0.2f;}
}; };
struct btStorageResult : public btDiscreteCollisionDetectorInterface::Result struct btStorageResult : public btDiscreteCollisionDetectorInterface::Result

27
src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
View File

@ -26,8 +26,9 @@ static const btScalar rel_error = btScalar(1.0e-5);
btScalar rel_error2 = rel_error * rel_error; btScalar rel_error2 = rel_error * rel_error;
float maxdist2 = 1.e30f; float maxdist2 = 1.e30f;
#ifdef __SPU__
int gGjkMaxIter=1000; #include <spu_printf.h>
#endif //__SPU__
btGjkPairDetector::btGjkPairDetector(btConvexShape* objectA,btConvexShape* objectB,btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver* penetrationDepthSolver) btGjkPairDetector::btGjkPairDetector(btConvexShape* objectA,btConvexShape* objectB,btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver* penetrationDepthSolver)
:m_cachedSeparatingAxis(0.f,0.f,1.f), :m_cachedSeparatingAxis(0.f,0.f,1.f),
@ -77,22 +78,6 @@ int curIter = 0;
while (true) while (true)
{ {
//degeneracy, this is typically due to invalid/uninitialized worldtransforms for a btCollisionObject
if (curIter++ > gGjkMaxIter)
{
#if defined(DEBUG) || defined (_DEBUG)
printf("btGjkPairDetector maxIter exceeded:%i\n",curIter);
printf("sepAxis=(%f,%f,%f), squaredDistance = %f, shapeTypeA=%i,shapeTypeB=%i\n",
m_cachedSeparatingAxis.getX(),
m_cachedSeparatingAxis.getY(),
m_cachedSeparatingAxis.getZ(),
squaredDistance,
m_minkowskiA->getShapeType(),
m_minkowskiB->getShapeType());
#endif
break;
}
btVector3 seperatingAxisInA = (-m_cachedSeparatingAxis)* input.m_transformA.getBasis(); btVector3 seperatingAxisInA = (-m_cachedSeparatingAxis)* input.m_transformA.getBasis();
btVector3 seperatingAxisInB = m_cachedSeparatingAxis* input.m_transformB.getBasis(); btVector3 seperatingAxisInB = m_cachedSeparatingAxis* input.m_transformB.getBasis();
@ -211,6 +196,10 @@ int curIter = 0;
if (isValid) if (isValid)
{ {
#ifdef __SPU__
//spu_printf("distance\n");
#endif //__CELLOS_LV2__
output.setShapeIdentifiers(m_partId0,m_index0,m_partId1,m_index1); output.setShapeIdentifiers(m_partId0,m_index0,m_partId1,m_index1);
output.addContactPoint( output.addContactPoint(
@ -218,7 +207,7 @@ int curIter = 0;
pointOnB, pointOnB,
distance); distance);
//printf("gjk add:%f",distance); //printf("gjk add:%f",distance);
} }
} }