public DefaultCollisionConfiguration(DefaultCollisionConstructionInfo constructionInfo) { m_simplexSolver = BulletGlobals.VoronoiSimplexSolverPool.Get(); //m_pdSolver = new GjkEpaPenetrationDepthSolver(); m_pdSolver = new MinkowskiPenetrationDepthSolver(); m_useEpaPenetrationAlgorithm = true; //default CreationFunctions, filling the m_doubleDispatch table m_convexConvexCreateFunc = new ConvexConvexCreateFunc(m_simplexSolver,m_pdSolver); m_convexConcaveCreateFunc = new ConvexConcaveCreateFunc(); m_swappedConvexConcaveCreateFunc = new SwappedConvexConcaveCreateFunc(); m_compoundCreateFunc = new CompoundCreateFunc(); m_swappedCompoundCreateFunc = new SwappedCompoundCreateFunc(); m_emptyCreateFunc = new EmptyCreateFunc(); m_sphereSphereCF = new SphereSphereCreateFunc(); m_sphereBoxCF = new SphereBoxCreateFunc(); m_boxSphereCF = new SwappedSphereBoxCreateFunc(); m_convexAlgo2DCF = new Convex2dConvex2dCreateFunc(m_simplexSolver, m_pdSolver); m_sphereTriangleCF = new SphereTriangleCreateFunc(); m_triangleSphereCF = new SphereTriangleCreateFunc(); m_triangleSphereCF.m_swapped = true; m_boxBoxCF = new BoxBoxCreateFunc(); //convex versus plane m_convexPlaneCF = new ConvexPlaneCreateFunc(); m_planeConvexCF = new ConvexPlaneCreateFunc(); m_planeConvexCF.m_swapped = true; }
public DefaultCollisionConfiguration(DefaultCollisionConstructionInfo constructionInfo) { m_simplexSolver = BulletGlobals.VoronoiSimplexSolverPool.Get(); //m_pdSolver = new GjkEpaPenetrationDepthSolver(); m_pdSolver = new MinkowskiPenetrationDepthSolver(); m_useEpaPenetrationAlgorithm = true; //default CreationFunctions, filling the m_doubleDispatch table m_convexConvexCreateFunc = new ConvexConvexCreateFunc(m_simplexSolver, m_pdSolver); m_convexConcaveCreateFunc = new ConvexConcaveCreateFunc(); m_swappedConvexConcaveCreateFunc = new SwappedConvexConcaveCreateFunc(); m_compoundCreateFunc = new CompoundCreateFunc(); m_swappedCompoundCreateFunc = new SwappedCompoundCreateFunc(); m_emptyCreateFunc = new EmptyCreateFunc(); m_sphereSphereCF = new SphereSphereCreateFunc(); m_sphereBoxCF = new SphereBoxCreateFunc(); m_boxSphereCF = new SwappedSphereBoxCreateFunc(); m_convexAlgo2DCF = new Convex2dConvex2dCreateFunc(m_simplexSolver, m_pdSolver); m_sphereTriangleCF = new SphereTriangleCreateFunc(); m_triangleSphereCF = new SphereTriangleCreateFunc(); m_triangleSphereCF.m_swapped = true; m_boxBoxCF = new BoxBoxCreateFunc(); //convex versus plane m_convexPlaneCF = new ConvexPlaneCreateFunc(); m_planeConvexCF = new ConvexPlaneCreateFunc(); m_planeConvexCF.m_swapped = true; }