void dgCollisionScene::ImproveTotalFitness()
{
dgInt32 maxPasses = 2 * exp_2(m_fitnessList.GetCount()) + 1;
dgFloat64 newCost = dgFloat32(1.0e20f);
dgFloat64 prevCost = newCost;
do
{
prevCost = newCost;
for (dgList<dgNode*>::dgListNode* node = m_fitnessList.GetFirst(); node;
node = node->GetNext())
{
ImproveNodeFitness(node->GetInfo());
}
newCost = dgFloat32(0.0f);
for (dgList<dgNode*>::dgListNode* node = m_fitnessList.GetFirst(); node;
node = node->GetNext())
{
newCost += node->GetInfo()->m_surfaceArea;
}
maxPasses--;
} while (maxPasses && (newCost < prevCost));
SetCollisionBBox(m_rootNode->m_minBox, m_rootNode->m_maxBox);
}
void dgCollisionDeformableMesh::ImproveTotalFitness()
{
dgInt32 count = m_nodesCount - m_trianglesCount;
dgInt32 maxPasses = 2 * dgExp2 (count) + 1;
dgDeformableNode* const nodes = &m_nodesMemory[m_trianglesCount];
dgFloat64 newCost = dgFloat32 (1.0e20f);
dgFloat64 prevCost = newCost;
do {
prevCost = newCost;
for (dgInt32 i = 0; i < count; i ++) {
dgDeformableNode* const node = &nodes[i];
ImproveNodeFitness (node);
}
newCost = dgFloat32 (0.0f);
for (dgInt32 i = 0; i < count; i ++) {
const dgDeformableNode* const node = &nodes[i];
newCost += node->m_surfaceArea;
}
maxPasses --;
} while (maxPasses && (newCost < (prevCost * dgFloat32 (0.9f))));
dgAssert (SanityCheck());
}
