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Remove global variables in btGjkPairDetector

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This commit is contained in:
Benau 2020-02-28 09:30:56 +08:00
parent 05ed086d28
commit a58c443247
1 changed files with 5 additions and 4 deletions
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9
lib/bullet/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
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@ -36,9 +36,10 @@ subject to the following restrictions:
//must be above the machine epsilon
#define REL_ERROR2 btScalar(1.0e-6)
// Disable global variables for STK with multiple physics instance
//temp globals, to improve GJK/EPA/penetration calculations
int gNumDeepPenetrationChecks = 0;
int gNumGjkChecks = 0;
//int gNumDeepPenetrationChecks = 0;
//int gNumGjkChecks = 0;
btGjkPairDetector::btGjkPairDetector(const btConvexShape* objectA,const btConvexShape* objectB,btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver* penetrationDepthSolver)
@ -101,7 +102,7 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput& inpu
btScalar marginA = m_marginA;
btScalar marginB = m_marginB;
gNumGjkChecks++;
//gNumGjkChecks++;
#ifdef DEBUG_SPU_COLLISION_DETECTION
spu_printf("inside gjk\n");
@ -348,7 +349,7 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput& inpu
// Penetration depth case.
btVector3 tmpPointOnA,tmpPointOnB;
gNumDeepPenetrationChecks++;
//gNumDeepPenetrationChecks++;
m_cachedSeparatingAxis.setZero();
bool isValid2 = m_penetrationDepthSolver->calcPenDepth(