Changeset 2430 for code/branches/physics/src/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp

Timestamp:

Dec 13, 2008, 11:45:51 PM (16 years ago)

Author:

rgrieder

Message:

Updated to Bullet 2.73 (first part).

File:

• code/branches/physics/src/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp (modified) (4 diffs)

code/branches/physics/src/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp

@@ -19 +19 @@
 #include "btGjkEpaPenetrationDepthSolver.h"
 
-#ifndef __SPU__
-//#define USE_ORIGINAL_GJK 1
-#endif
-
-#ifdef USE_ORIGINAL_GJK
-#include "BulletCollision/NarrowPhaseCollision/btGjkEpa.h"
-#endif
 
 #include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h"
@@ -32 +25 @@
                                                                                           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 )
 {
@@ -42 +35 @@
         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;
@@ -55 +41 @@
                                                                 guessVector,results))
         
-#endif
                 {
         //      debugDraw->drawLine(results.witnesses[1],results.witnesses[1]+results.normal,btVector3(255,0,0));