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First stage in refactoring Bullet: moved Bullet Collision and Dynamics and LinearMath into src folder, and all files in Collision Detection and Dynamics have bt prefix.

Browse Source 
Made all buildsystems to work again (jam, msvc, cmake)
This commit is contained in:
ejcoumans
2006-09-25 08:58:57 +00:00
parent 86f5b09623
commit 0e04cfc806
398 changed files with 4135 additions and 7019 deletions
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59
Bullet/CMakeLists.txt
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@@ -1,59 +0,0 @@
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/LinearMath ${BULLET_PHYSICS_SOURCE_DIR}/Bullet }
)
ADD_LIBRARY(LibBulletCollision
BroadphaseCollision/AxisSweep3.cpp
BroadphaseCollision/BroadphaseProxy.cpp
BroadphaseCollision/CollisionAlgorithm.cpp
BroadphaseCollision/Dispatcher.cpp
BroadphaseCollision/OverlappingPairCache.cpp
BroadphaseCollision/SimpleBroadphase.cpp
CollisionDispatch/CollisionDispatcher.cpp
CollisionDispatch/CollisionObject.cpp
CollisionDispatch/CollisionWorld.cpp
CollisionDispatch/CompoundCollisionAlgorithm.cpp
CollisionDispatch/ConvexConcaveCollisionAlgorithm.cpp
CollisionDispatch/SphereSphereCollisionAlgorithm.cpp
CollisionDispatch/ConvexConvexAlgorithm.cpp
CollisionDispatch/EmptyCollisionAlgorithm.cpp
CollisionDispatch/ManifoldResult.cpp
CollisionDispatch/SimulationIslandManager.cpp
CollisionDispatch/UnionFind.cpp
CollisionShapes/BoxShape.cpp
CollisionShapes/BvhTriangleMeshShape.cpp
CollisionShapes/CollisionShape.cpp
CollisionShapes/CompoundShape.cpp
CollisionShapes/ConcaveShape.cpp
CollisionShapes/ConeShape.cpp
CollisionShapes/ConvexHullShape.cpp
CollisionShapes/ConvexShape.cpp
CollisionShapes/ConvexTriangleMeshShape.cpp
CollisionShapes/CylinderShape.cpp
CollisionShapes/EmptyShape.cpp
CollisionShapes/MinkowskiSumShape.cpp
CollisionShapes/MultiSphereShape.cpp
CollisionShapes/OptimizedBvh.cpp
CollisionShapes/PolyhedralConvexShape.cpp
CollisionShapes/Simplex1to4Shape.cpp
CollisionShapes/SphereShape.cpp
CollisionShapes/StaticPlaneShape.cpp
CollisionShapes/StridingMeshInterface.cpp
CollisionShapes/TriangleCallback.cpp
CollisionShapes/TriangleIndexVertexArray.cpp
CollisionShapes/TriangleMesh.cpp
CollisionShapes/TriangleMeshShape.cpp
NarrowPhaseCollision/ContinuousConvexCollision.cpp
NarrowPhaseCollision/ConvexCast.cpp
NarrowPhaseCollision/GjkConvexCast.cpp
NarrowPhaseCollision/GjkPairDetector.cpp
NarrowPhaseCollision/Hull.cpp
NarrowPhaseCollision/ManifoldContactAddResult.cpp
NarrowPhaseCollision/MinkowskiPenetrationDepthSolver.cpp
NarrowPhaseCollision/PersistentManifold.cpp
NarrowPhaseCollision/RaycastCallback.cpp
NarrowPhaseCollision/Shape.cpp
NarrowPhaseCollision/SubSimplexConvexCast.cpp
NarrowPhaseCollision/VoronoiSimplexSolver.cpp
)

26
Bullet/NarrowPhaseCollision/CollisionMargin.h
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@@ -1,26 +0,0 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef COLLISION_MARGIN_H
#define COLLISION_MARGIN_H
//used by Gjk and some other algorithms
#define CONVEX_DISTANCE_MARGIN 0.04f// 0.1f//;//0.01f
#endif //COLLISION_MARGIN_H

19
BulletDynamics/CMakeLists.txt
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@@ -1,19 +0,0 @@
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/LinearMath ${BULLET_PHYSICS_SOURCE_DIR}/Bullet ${BULLET_PHYSICS_SOURCE_DIR}/BulletDynamics }
)
ADD_LIBRARY(LibBulletDynamics
ConstraintSolver/ContactConstraint.cpp
ConstraintSolver/Generic6DofConstraint.cpp
ConstraintSolver/HingeConstraint.cpp
ConstraintSolver/Point2PointConstraint.cpp
ConstraintSolver/SequentialImpulseConstraintSolver.cpp
ConstraintSolver/Solve2LinearConstraint.cpp
ConstraintSolver/TypedConstraint.cpp
Dynamics/BU_Joint.cpp
Dynamics/ContactJoint.cpp
Dynamics/RigidBody.cpp
Vehicle/RaycastVehicle.cpp
Vehicle/WheelInfo.cpp
)

25
BulletDynamics/Dynamics/BU_Joint.cpp
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@@ -1,25 +0,0 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "BU_Joint.h"
BU_Joint::BU_Joint()
{
}
BU_Joint::~BU_Joint()
{
}

93
BulletDynamics/Dynamics/BU_Joint.h
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@@ -1,93 +0,0 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef BU_Joint_H
#define BU_Joint_H
class RigidBody;
class BU_Joint;
#include "SimdScalar.h"
struct BU_ContactJointNode {
BU_Joint *joint; // pointer to enclosing BU_Joint object
RigidBody*body; // *other* body this joint is connected to
};
typedef SimdScalar dVector3[4];
class BU_Joint {
public:
// naming convention: the "first" body this is connected to is node[0].body,
// and the "second" body is node[1].body. if this joint is only connected
// to one body then the second body is 0.
// info returned by getInfo1 function. the constraint dimension is m (<=6).
// i.e. that is the total number of rows in the jacobian. `nub' is the
// number of unbounded variables (which have lo,hi = -/+ infinity).
BU_Joint();
virtual ~BU_Joint();
struct Info1 {
int m,nub;
};
// info returned by getInfo2 function
struct Info2 {
// integrator parameters: frames per second (1/stepsize), default error
// reduction parameter (0..1).
SimdScalar fps,erp;
// for the first and second body, pointers to two (linear and angular)
// n*3 jacobian sub matrices, stored by rows. these matrices will have
// been initialized to 0 on entry. if the second body is zero then the
// J2xx pointers may be 0.
SimdScalar *J1l,*J1a,*J2l,*J2a;
// elements to jump from one row to the next in J's
int rowskip;
// right hand sides of the equation J*v = c + cfm * lambda. cfm is the
// "constraint force mixing" vector. c is set to zero on entry, cfm is
// set to a constant value (typically very small or zero) value on entry.
SimdScalar *c,*cfm;
// lo and hi limits for variables (set to -/+ infinity on entry).
SimdScalar *lo,*hi;
// findex vector for variables. see the LCP solver interface for a
// description of what this does. this is set to -1 on entry.
// note that the returned indexes are relative to the first index of
// the constraint.
int *findex;
};
// virtual function table: size of the joint structure, function pointers.
// we do it this way instead of using C++ virtual functions because
// sometimes we need to allocate joints ourself within a memory pool.
virtual void GetInfo1 (Info1 *info)=0;
virtual void GetInfo2 (Info2 *info)=0;
int flags; // dJOINT_xxx flags
BU_ContactJointNode node[2]; // connections to bodies. node[1].body can be 0
SimdScalar lambda[6]; // lambda generated by last step
};
#endif //BU_Joint_H

270
BulletDynamics/Dynamics/ContactJoint.cpp
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@@ -1,270 +0,0 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "ContactJoint.h"
#include "RigidBody.h"
#include "NarrowPhaseCollision/PersistentManifold.h"
//this constant needs to be set up so different solvers give 'similar' results
#define FRICTION_CONSTANT 120.f
ContactJoint::ContactJoint(PersistentManifold* manifold,int index,bool swap,RigidBody* body0,RigidBody* body1)
:m_manifold(manifold),
m_index(index),
m_swapBodies(swap),
m_body0(body0),
m_body1(body1)
{
}
int m_numRows = 3;
void ContactJoint::GetInfo1(Info1 *info)
{
info->m = m_numRows;
//friction adds another 2...
info->nub = 0;
}
#define dCROSS(a,op,b,c) \
(a)[0] op ((b)[1]*(c)[2] - (b)[2]*(c)[1]); \
(a)[1] op ((b)[2]*(c)[0] - (b)[0]*(c)[2]); \
(a)[2] op ((b)[0]*(c)[1] - (b)[1]*(c)[0]);
#define M_SQRT12 SimdScalar(0.7071067811865475244008443621048490)
#define dRecipSqrt(x) ((float)(1.0f/SimdSqrt(float(x)))) /* reciprocal square root */
void dPlaneSpace1 (const dVector3 n, dVector3 p, dVector3 q)
{
if (SimdFabs(n[2]) > M_SQRT12) {
// choose p in y-z plane
SimdScalar a = n[1]*n[1] + n[2]*n[2];
SimdScalar k = dRecipSqrt (a);
p[0] = 0;
p[1] = -n[2]*k;
p[2] = n[1]*k;
// set q = n x p
q[0] = a*k;
q[1] = -n[0]*p[2];
q[2] = n[0]*p[1];
}
else {
// choose p in x-y plane
SimdScalar a = n[0]*n[0] + n[1]*n[1];
SimdScalar k = dRecipSqrt (a);
p[0] = -n[1]*k;
p[1] = n[0]*k;
p[2] = 0;
// set q = n x p
q[0] = -n[2]*p[1];
q[1] = n[2]*p[0];
q[2] = a*k;
}
}
void ContactJoint::GetInfo2(Info2 *info)
{
int s = info->rowskip;
int s2 = 2*s;
float swapFactor = m_swapBodies ? -1.f : 1.f;
// get normal, with sign adjusted for body1/body2 polarity
dVector3 normal;
ManifoldPoint& point = m_manifold->GetContactPoint(m_index);
normal[0] = swapFactor*point.m_normalWorldOnB[0];
normal[1] = swapFactor*point.m_normalWorldOnB[1];
normal[2] = swapFactor*point.m_normalWorldOnB[2];
normal[3] = 0; // @@@ hmmm
// if (GetBody0())
SimdVector3 relativePositionA;
{
relativePositionA = point.GetPositionWorldOnA() - m_body0->getCenterOfMassPosition();
dVector3 c1;
c1[0] = relativePositionA[0];
c1[1] = relativePositionA[1];
c1[2] = relativePositionA[2];
// set jacobian for normal
info->J1l[0] = normal[0];
info->J1l[1] = normal[1];
info->J1l[2] = normal[2];
dCROSS (info->J1a,=,c1,normal);
}
// if (GetBody1())
SimdVector3 relativePositionB;
{
dVector3 c2;
relativePositionB = point.GetPositionWorldOnB() - m_body1->getCenterOfMassPosition();
// for (i=0; i<3; i++) c2[i] = j->contact.geom.pos[i] -
// j->node[1].body->pos[i];
c2[0] = relativePositionB[0];
c2[1] = relativePositionB[1];
c2[2] = relativePositionB[2];
info->J2l[0] = -normal[0];
info->J2l[1] = -normal[1];
info->J2l[2] = -normal[2];
dCROSS (info->J2a,= -,c2,normal);
}
SimdScalar k = info->fps * info->erp;
float depth = -point.GetDistance();
// if (depth < 0.f)
// depth = 0.f;
info->c[0] = k * depth;
//float maxvel = .2f;
// if (info->c[0] > maxvel)
// info->c[0] = maxvel;
//can override it, not necessary
// info->cfm[0] = 0.f;
// info->cfm[1] = 0.f;
// info->cfm[2] = 0.f;
// set LCP limits for normal
info->lo[0] = 0;
info->hi[0] = 1e30f;//dInfinity;
info->lo[1] = 0;
info->hi[1] = 0.f;
info->lo[2] = 0.f;
info->hi[2] = 0.f;
#define DO_THE_FRICTION_2
#ifdef DO_THE_FRICTION_2
// now do jacobian for tangential forces
dVector3 t1,t2; // two vectors tangential to normal
dVector3 c1;
c1[0] = relativePositionA[0];
c1[1] = relativePositionA[1];
c1[2] = relativePositionA[2];
dVector3 c2;
c2[0] = relativePositionB[0];
c2[1] = relativePositionB[1];
c2[2] = relativePositionB[2];
//combined friction is available in the contact point
float friction = FRICTION_CONSTANT*m_body0->getFriction() * m_body1->getFriction();
// first friction direction
if (m_numRows >= 2)
{
dPlaneSpace1 (normal,t1,t2);
info->J1l[s+0] = t1[0];
info->J1l[s+1] = t1[1];
info->J1l[s+2] = t1[2];
dCROSS (info->J1a+s,=,c1,t1);
if (1) { //j->node[1].body) {
info->J2l[s+0] = -t1[0];
info->J2l[s+1] = -t1[1];
info->J2l[s+2] = -t1[2];
dCROSS (info->J2a+s,= -,c2,t1);
}
// set right hand side
if (0) {//j->contact.surface.mode & dContactMotion1) {
//info->c[1] = j->contact.surface.motion1;
}
// set LCP bounds and friction index. this depends on the approximation
// mode
//1e30f
info->lo[1] = -friction;//-j->contact.surface.mu;
info->hi[1] = friction;//j->contact.surface.mu;
if (1)//j->contact.surface.mode & dContactApprox1_1)
info->findex[1] = 0;
// set slip (constraint force mixing)
if (0)//j->contact.surface.mode & dContactSlip1)
{
// info->cfm[1] = j->contact.surface.slip1;
} else
{
//info->cfm[1] = 0.f;
}
}
// second friction direction
if (m_numRows >= 3) {
info->J1l[s2+0] = t2[0];
info->J1l[s2+1] = t2[1];
info->J1l[s2+2] = t2[2];
dCROSS (info->J1a+s2,=,c1,t2);
if (1) { //j->node[1].body) {
info->J2l[s2+0] = -t2[0];
info->J2l[s2+1] = -t2[1];
info->J2l[s2+2] = -t2[2];
dCROSS (info->J2a+s2,= -,c2,t2);
}
// set right hand side
if (0){//j->contact.surface.mode & dContactMotion2) {
//info->c[2] = j->contact.surface.motion2;
}
// set LCP bounds and friction index. this depends on the approximation
// mode
if (0){//j->contact.surface.mode & dContactMu2) {
//info->lo[2] = -j->contact.surface.mu2;
//info->hi[2] = j->contact.surface.mu2;
}
else {
info->lo[2] = -friction;
info->hi[2] = friction;
}
if (0)//j->contact.surface.mode & dContactApprox1_2)
{
info->findex[2] = 0;
}
// set slip (constraint force mixing)
if (0) //j->contact.surface.mode & dContactSlip2)
{
//info->cfm[2] = j->contact.surface.slip2;
}
}
#endif //DO_THE_FRICTION_2
}

50
BulletDynamics/Dynamics/ContactJoint.h
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@@ -1,50 +0,0 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef CONTACT_JOINT_H
#define CONTACT_JOINT_H
#include "BU_Joint.h"
class RigidBody;
class PersistentManifold;
class ContactJoint : public BU_Joint
{
PersistentManifold* m_manifold;
int m_index;
bool m_swapBodies;
RigidBody* m_body0;
RigidBody* m_body1;
public:
ContactJoint() {};
ContactJoint(PersistentManifold* manifold,int index,bool swap,RigidBody* body0,RigidBody* body1);
//BU_Joint interface for solver
virtual void GetInfo1(Info1 *info);
virtual void GetInfo2(Info2 *info);
};
#endif //CONTACT_JOINT_H

2
CMakeLists.txt
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@@ -1,3 +1,3 @@
PROJECT(BULLET_PHYSICS)
SUBDIRS(LinearMath Bullet BulletDynamics Demos Extras)
SUBDIRS(src Demos Extras)

4
Demos/BspDemo/BspConverter.cpp
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@@ -16,7 +16,7 @@ subject to the following restrictions:
#include "BspConverter.h"
#include "BspLoader.h"
#include "CcdPhysicsEnvironment.h"
#include "SimdVector3.h"
#include "LinearMath/SimdVector3.h"
void BspConverter::convertBsp(BspLoader& bspLoader,float scaling)
{
@@ -86,7 +86,7 @@ void BspConverter::convertBsp(BspLoader& bspLoader,float scaling)
std::vector<SimdVector3> vertices;
getVerticesFromPlaneEquations(planeEquations,vertices);
printf("getVerticesFromPlaneEquations returned %i\n",vertices.size());
printf("getVerticesFromPlaneEquations returned %i\n",(int)vertices.size());
bool isEntity = false;
SimdVector3 entityTarget(0.f,0.f,0.f);

6
Demos/BspDemo/BspConverter.h
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@@ -18,7 +18,7 @@ subject to the following restrictions:
class BspLoader;
#include <vector>
#include "SimdVector3.h"
#include "LinearMath/SimdVector3.h"
///BspConverter turns a loaded bsp level into convex parts (vertices)
class BspConverter
@@ -26,7 +26,9 @@ class BspConverter
public:
void convertBsp(BspLoader& bspLoader,float scaling);
virtual ~BspConverter()
{
}
///Utility function to create vertices from a Quake Brush. Brute force but it works.
///Bit overkill to use QHull package
void getVerticesFromPlaneEquations(const std::vector<SimdVector3>& planeEquations , std::vector<SimdVector3>& verticesOut );

29
Demos/BspDemo/BspDemo.cpp
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@@ -16,33 +16,10 @@ subject to the following restrictions:
#include "CcdPhysicsEnvironment.h"
#include "CcdPhysicsController.h"
//#include "GL_LineSegmentShape.h"
#include "CollisionShapes/BoxShape.h"
#include "CollisionShapes/SphereShape.h"
#include "CollisionShapes/CylinderShape.h"
#include "CollisionShapes/ConeShape.h"
#include "CollisionShapes/StaticPlaneShape.h"
#include "CollisionShapes/ConvexHullShape.h"
#include "CollisionShapes/TriangleMesh.h"
#include "CollisionShapes/ConvexTriangleMeshShape.h"
#include "CollisionShapes/TriangleMeshShape.h"
#include "CollisionShapes/TriangleIndexVertexArray.h"
#include "CollisionShapes/CompoundShape.h"
#include "btBulletDynamicsCommon.h"
#include "CollisionShapes/Simplex1to4Shape.h"
#include "CollisionShapes/EmptyShape.h"
#include "Dynamics/RigidBody.h"
#include "CollisionDispatch/CollisionDispatcher.h"
#include "BroadphaseCollision/SimpleBroadphase.h"
#include "BroadphaseCollision/AxisSweep3.h"
#include "ConstraintSolver/Point2PointConstraint.h"
#include "ConstraintSolver/HingeConstraint.h"
#include "quickprof.h"
#include "IDebugDraw.h"
#include "LinearMath/GenQuickprof.h"
#include "LinearMath/GenIDebugDraw.h"
#include "GLDebugDrawer.h"

2
Demos/BspDemo/CMakeLists.txt
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@@ -48,7 +48,7 @@ ELSE (WIN32)
ENDIF (WIN32)
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/LinearMath ${BULLET_PHYSICS_SOURCE_DIR}/Bullet ${BULLET_PHYSICS_SOURCE_DIR}/BulletDynamics ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL ${BULLET_PHYSICS_SOURCE_DIR}/Extras/PhysicsInterface/Common ${BULLET_PHYSICS_SOURCE_DIR}/Extras/PhysicsInterface/CcdPhysics }
${BULLET_PHYSICS_SOURCE_DIR}/src ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL ${BULLET_PHYSICS_SOURCE_DIR}/Extras/PhysicsInterface/Common ${BULLET_PHYSICS_SOURCE_DIR}/Extras/PhysicsInterface/CcdPhysics }
)
LINK_LIBRARIES(

2
Demos/CcdPhysicsDemo/CMakeLists.txt
View File

@@ -48,7 +48,7 @@ ELSE (WIN32)
ENDIF (WIN32)
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/LinearMath ${BULLET_PHYSICS_SOURCE_DIR}/Bullet ${BULLET_PHYSICS_SOURCE_DIR}/BulletDynamics ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL ${BULLET_PHYSICS_SOURCE_DIR}/Extras/PhysicsInterface/Common ${BULLET_PHYSICS_SOURCE_DIR}/Extras/PhysicsInterface/CcdPhysics }
${BULLET_PHYSICS_SOURCE_DIR}/src ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL ${BULLET_PHYSICS_SOURCE_DIR}/Extras/PhysicsInterface/Common ${BULLET_PHYSICS_SOURCE_DIR}/Extras/PhysicsInterface/CcdPhysics }
)
LINK_LIBRARIES(

27
Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp
View File

@@ -21,36 +21,17 @@ subject to the following restrictions:
#include "CcdPhysicsEnvironment.h"
#include "ParallelPhysicsEnvironment.h"
#include "btBulletDynamicsCommon.h"
#include "CcdPhysicsController.h"
#include "MyMotionState.h"
//#include "GL_LineSegmentShape.h"
#include "CollisionShapes/BoxShape.h"
#include "CollisionShapes/SphereShape.h"
#include "CollisionShapes/ConeShape.h"
#include "CollisionShapes/StaticPlaneShape.h"
#include "CollisionShapes/CompoundShape.h"
#include "CollisionShapes/Simplex1to4Shape.h"
#include "CollisionShapes/EmptyShape.h"
#include "CollisionShapes/TriangleMeshShape.h"
#include "CollisionShapes/TriangleIndexVertexArray.h"
#include "CollisionShapes/BvhTriangleMeshShape.h"
#include "CollisionShapes/TriangleMesh.h"
#include "ConstraintSolver/SequentialImpulseConstraintSolver.h"
#include "Dynamics/RigidBody.h"
#include "CollisionDispatch/CollisionDispatcher.h"
#include "ParallelIslandDispatcher.h"
#include "BroadphaseCollision/SimpleBroadphase.h"
#include "BroadphaseCollision/AxisSweep3.h"
#include "ConstraintSolver/Point2PointConstraint.h"
#include "ConstraintSolver/HingeConstraint.h"
#include "quickprof.h"
#include "IDebugDraw.h"
#include "LinearMath/GenQuickprof.h"
#include "LinearMath/GenIDebugDraw.h"
#include "GLDebugDrawer.h"
#include "CollisionDispatch/SphereSphereCollisionAlgorithm.h"

2
Demos/CcdPhysicsDemo/MyMotionState.cpp
View File

@@ -14,7 +14,7 @@ subject to the following restrictions:
*/
#include "MyMotionState.h"
#include "SimdPoint3.h"
#include "LinearMath/SimdPoint3.h"
MyMotionState::MyMotionState()
{

2
Demos/CcdPhysicsDemo/MyMotionState.h
View File

@@ -17,7 +17,7 @@ subject to the following restrictions:
#define MY_MOTIONSTATE_H
#include "PHY_IMotionState.h"
#include <SimdTransform.h>
#include <LinearMath/SimdTransform.h>
class MyMotionState : public PHY_IMotionState

2
Demos/ColladaDemo/CMakeLists.txt
View File

@@ -48,7 +48,7 @@ ELSE (WIN32)
ENDIF (WIN32)
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/Extras/LibXML ${BULLET_PHYSICS_SOURCE_DIR}/Extras/LibXML/include ${BULLET_PHYSICS_SOURCE_DIR}/Extras/COLLADA_DOM/include/1.4 ${BULLET_PHYSICS_SOURCE_DIR}/Extras/COLLADA_DOM/include ${BULLET_PHYSICS_SOURCE_DIR}/LinearMath ${BULLET_PHYSICS_SOURCE_DIR}/Bullet ${BULLET_PHYSICS_SOURCE_DIR}/BulletDynamics ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL ${BULLET_PHYSICS_SOURCE_DIR}/Extras/PhysicsInterface/Common ${BULLET_PHYSICS_SOURCE_DIR}/Extras/PhysicsInterface/CcdPhysics }
${BULLET_PHYSICS_SOURCE_DIR}/Extras/LibXML ${BULLET_PHYSICS_SOURCE_DIR}/Extras/LibXML/include ${BULLET_PHYSICS_SOURCE_DIR}/Extras/COLLADA_DOM/include/1.4 ${BULLET_PHYSICS_SOURCE_DIR}/Extras/COLLADA_DOM/include ${BULLET_PHYSICS_SOURCE_DIR}/src ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL ${BULLET_PHYSICS_SOURCE_DIR}/Extras/PhysicsInterface/Common ${BULLET_PHYSICS_SOURCE_DIR}/Extras/PhysicsInterface/CcdPhysics }
)
LINK_LIBRARIES(

22
Demos/ColladaDemo/ColladaConverter.cpp
View File

@@ -18,17 +18,17 @@ subject to the following restrictions:
#include "dae.h"
#include "dom/domCOLLADA.h"
#include "CollisionShapes/BoxShape.h"
#include "CollisionShapes/SphereShape.h"
#include "CollisionShapes/CylinderShape.h"
#include "CollisionShapes/ConeShape.h"
#include "CollisionShapes/StaticPlaneShape.h"
#include "CollisionShapes/ConvexHullShape.h"
#include "CollisionShapes/TriangleMesh.h"
#include "CollisionShapes/ConvexTriangleMeshShape.h"
#include "CollisionShapes/TriangleMeshShape.h"
#include "CollisionShapes/TriangleIndexVertexArray.h"
#include "CollisionShapes/CompoundShape.h"
#include "BulletCollision/CollisionShapes/btBoxShape.h"
#include "BulletCollision/CollisionShapes/btSphereShape.h"
#include "BulletCollision/CollisionShapes/btCylinderShape.h"
#include "BulletCollision/CollisionShapes/btConeShape.h"
#include "BulletCollision/CollisionShapes/btStaticPlaneShape.h"
#include "BulletCollision/CollisionShapes/btConvexHullShape.h"
#include "BulletCollision/CollisionShapes/btTriangleMesh.h"
#include "BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h"
#include "BulletCollision/CollisionShapes/btTriangleMeshShape.h"
#include "BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h"
#include "BulletCollision/CollisionShapes/btCompoundShape.h"
#include "CcdPhysicsController.h"

4
Demos/ColladaDemo/ColladaConverter.h
View File

@@ -18,8 +18,8 @@ subject to the following restrictions:
#ifndef COLLADA_CONVERTER_H
#define COLLADA_CONVERTER_H
#include "SimdTransform.h"
#include "SimdVector3.h"
#include "LinearMath/SimdTransform.h"
#include "LinearMath/SimdVector3.h"
class CollisionShape;
class PHY_IPhysicsController;

14
Demos/ColladaDemo/ColladaDemo.cpp
View File

@@ -15,19 +15,13 @@ subject to the following restrictions:
#include "CcdPhysicsEnvironment.h"
#include "CcdPhysicsController.h"
#include "CollisionShapes/Simplex1to4Shape.h"
#include "CollisionShapes/EmptyShape.h"
#include "Dynamics/RigidBody.h"
#include "CollisionDispatch/CollisionDispatcher.h"
#include "BroadphaseCollision/SimpleBroadphase.h"
#include "BroadphaseCollision/AxisSweep3.h"
#include "ConstraintSolver/Point2PointConstraint.h"
#include "ConstraintSolver/HingeConstraint.h"
#include "quickprof.h"
#include "IDebugDraw.h"
#include "btBulletDynamicsCommon.h"
#include "LinearMath/GenQuickprof.h"
#include "LinearMath/GenIDebugDraw.h"
#include "GLDebugDrawer.h"
//COLLADA_DOM and LibXML source code are included in Extras/ folder.
//COLLADA_DOM should compile under all platforms, and is enabled by default.

22
Demos/CollisionDemo/CollisionDemo.cpp
View File

@@ -19,21 +19,23 @@ subject to the following restrictions:
/// See the define CATCH_DEGENERATE_TETRAHEDRON in Bullet's VoronoiSimplexSolver.cpp
///
#include "GL_Simplex1to4.h"
#include "SimdQuaternion.h"
#include "SimdTransform.h"
#include "NarrowPhaseCollision/VoronoiSimplexSolver.h"
#include "CollisionShapes/BoxShape.h"
#include "NarrowPhaseCollision/GjkPairDetector.h"
#include "NarrowPhaseCollision/PointCollector.h"
#include "NarrowPhaseCollision/VoronoiSimplexSolver.h"
#include "NarrowPhaseCollision/ConvexPenetrationDepthSolver.h"
///This low-level internal demo does intentionally NOT use the btBulletCollisionCommon.h header
///It needs internal access
#include "GL_Simplex1to4.h"
#include "LinearMath/SimdQuaternion.h"
#include "LinearMath/SimdTransform.h"
#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
#include "BulletCollision/CollisionShapes/btBoxShape.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
#include "BulletCollision/NarrowPhaseCollision/btPointCollector.h"
#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h"
#include "CollisionDemo.h"
#include "GL_ShapeDrawer.h"
#include "GlutStuff.h"
#include "IDebugDraw.h"
#include "LinearMath/GenIDebugDraw.h"
float yaw=0.f,pitch=0.f,roll=0.f;

14
Demos/CollisionInterfaceDemo/CollisionInterfaceDemo.cpp
View File

@@ -19,17 +19,11 @@ subject to the following restrictions:
///
#include "GL_Simplex1to4.h"
#include "SimdQuaternion.h"
#include "SimdTransform.h"
#include "CollisionShapes/ConvexHullShape.h"
#include "CollisionShapes/BoxShape.h"
#include "CollisionDispatch/CollisionWorld.h"
#include "CollisionDispatch/CollisionObject.h"
#include "CollisionDispatch/CollisionDispatcher.h"
#include "BroadphaseCollision/SimpleBroadphase.h"
#include "BroadphaseCollision/AxisSweep3.h"
#include "IDebugDraw.h"
//include common Bullet Collision Detection headerfiles
#include "btBulletCollisionCommon.h"
#include "LinearMath/GenIDebugDraw.h"
#include "GL_ShapeDrawer.h"
#include "CollisionInterfaceDemo.h"
#include "GlutStuff.h"

15
Demos/ConcaveDemo/ConcavePhysicsDemo.cpp
View File

@@ -16,19 +16,8 @@ subject to the following restrictions:
#include "CcdPhysicsEnvironment.h"
#include "CcdPhysicsController.h"
#include "MyMotionState.h"
#include "CollisionShapes/BoxShape.h"
#include "CollisionShapes/Simplex1to4Shape.h"
#include "Dynamics/RigidBody.h"
#include "BroadphaseCollision/AxisSweep3.h"
#include "ConstraintSolver/SequentialImpulseConstraintSolver.h"
#include "CollisionDispatch/CollisionDispatcher.h"
#include "BroadphaseCollision/SimpleBroadphase.h"
#include "CollisionShapes/TriangleMeshShape.h"
#include "CollisionShapes/TriangleIndexVertexArray.h"
#include "CollisionShapes/BvhTriangleMeshShape.h"
#include "CollisionShapes/TriangleMesh.h"
#include "IDebugDraw.h"
#include "btBulletDynamicsCommon.h"
#include "LinearMath/GenIDebugDraw.h"
#include "GLDebugDrawer.h"
#include "PHY_Pro.h"
#include "ConcaveDemo.h"

2
Demos/ConcaveDemo/MyMotionState.cpp
View File

@@ -14,7 +14,7 @@ subject to the following restrictions:
*/
#include "MyMotionState.h"
#include "SimdPoint3.h"
#include "LinearMath/SimdPoint3.h"
MyMotionState::MyMotionState()
{

2
Demos/ConcaveDemo/MyMotionState.h
View File

@@ -17,7 +17,7 @@ subject to the following restrictions:
#define MY_MOTIONSTATE_H
#include "PHY_IMotionState.h"
#include <SimdTransform.h>
#include <LinearMath/SimdTransform.h>
class MyMotionState : public PHY_IMotionState

11
Demos/ConstraintDemo/ConstraintDemo.cpp
View File

@@ -16,15 +16,8 @@ subject to the following restrictions:
#include "CcdPhysicsEnvironment.h"
#include "CcdPhysicsController.h"
#include "MyMotionState.h"
#include "CollisionShapes/BoxShape.h"
#include "CollisionShapes/Simplex1to4Shape.h"
#include "CollisionShapes/EmptyShape.h"
#include "Dynamics/RigidBody.h"
#include "ConstraintSolver/SequentialImpulseConstraintSolver.h"
#include "CollisionDispatch/CollisionDispatcher.h"
#include "BroadphaseCollision/SimpleBroadphase.h"
#include "IDebugDraw.h"
#include "btBulletDynamicsCommon.h"
#include "LinearMath/GenIDebugDraw.h"
#include "GLDebugDrawer.h"

2
Demos/ConstraintDemo/MyMotionState.cpp
View File

@@ -14,7 +14,7 @@ subject to the following restrictions:
*/
#include "MyMotionState.h"
#include "SimdPoint3.h"
#include "LinearMath/SimdPoint3.h"
MyMotionState::MyMotionState()
{

2
Demos/ConstraintDemo/MyMotionState.h
View File

@@ -17,7 +17,7 @@ subject to the following restrictions:
#define MY_MOTIONSTATE_H
#include "PHY_IMotionState.h"
#include <SimdTransform.h>
#include <LinearMath/SimdTransform.h>
class MyMotionState : public PHY_IMotionState

30
Demos/ContinuousConvexCollision/ContinuousConvexCollisionDemo.cpp
View File

@@ -18,26 +18,28 @@
Also comparision with Algebraic CCD and Interval Arithmetic methods (Stephane Redon)
*/
#include "SimdQuaternion.h"
#include "SimdTransform.h"
#include "NarrowPhaseCollision/VoronoiSimplexSolver.h"
#include "CollisionShapes/BoxShape.h"
#include "CollisionShapes/MinkowskiSumShape.h"
#include "NarrowPhaseCollision/GjkPairDetector.h"
#include "NarrowPhaseCollision/GjkConvexCast.h"
#include "NarrowPhaseCollision/SubSimplexConvexCast.h"
#include "NarrowPhaseCollision/ContinuousConvexCollision.h"
///This low level demo need internal access, and intentionally doesn't include the btBulletCollisionCommon.h headerfile
#include "LinearMath/SimdQuaternion.h"
#include "LinearMath/SimdTransform.h"
#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
#include "BulletCollision/CollisionShapes/btBoxShape.h"
#include "BulletCollision/CollisionShapes/btMinkowskiSumShape.h"
#include "SimdTransformUtil.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h"
#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
#include "BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h"
#include "LinearMath/SimdTransformUtil.h"
#include "DebugCastResult.h"
#include "CollisionShapes/SphereShape.h"
#include "BulletCollision/CollisionShapes/btSphereShape.h"
#include "CollisionShapes/Simplex1to4Shape.h"
#include "BulletCollision/CollisionShapes/btTetrahedronShape.h"
#include "NarrowPhaseCollision/VoronoiSimplexSolver.h"
#include "NarrowPhaseCollision/ConvexPenetrationDepthSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h"
#include "GL_ShapeDrawer.h"
#include "ContinuousConvexCollision.h"

23
Demos/ConvexDecompositionDemo/ConvexDecompositionDemo.cpp
View File

@@ -19,27 +19,10 @@ subject to the following restrictions:
#include "CcdPhysicsEnvironment.h"
#include "CcdPhysicsController.h"
#include "btBulletDynamicsCommon.h"
//#include "GL_LineSegmentShape.h"
#include "CollisionShapes/BoxShape.h"
#include "CollisionShapes/SphereShape.h"
#include "CollisionShapes/ConeShape.h"
#include "CollisionShapes/ConvexTriangleMeshShape.h"
#include "CollisionShapes/TriangleMesh.h"
#include "CollisionShapes/Simplex1to4Shape.h"
#include "CollisionShapes/EmptyShape.h"
#include "Dynamics/RigidBody.h"
#include "CollisionDispatch/CollisionDispatcher.h"
#include "BroadphaseCollision/SimpleBroadphase.h"
#include "BroadphaseCollision/AxisSweep3.h"
#include "ConstraintSolver/Point2PointConstraint.h"
#include "ConstraintSolver/HingeConstraint.h"
#include "quickprof.h"
#include "IDebugDraw.h"
#include "LinearMath/GenQuickprof.h"
#include "LinearMath/GenIDebugDraw.h"
#include "GLDebugDrawer.h"

16
Demos/ConvexHullDistance/ConvexHullDistanceDemo.cpp
View File

@@ -20,15 +20,15 @@ subject to the following restrictions:
///
#include "GL_Simplex1to4.h"
#include "SimdQuaternion.h"
#include "SimdTransform.h"
#include "NarrowPhaseCollision/VoronoiSimplexSolver.h"
#include "CollisionShapes/ConvexHullShape.h"
#include "LinearMath/SimdQuaternion.h"
#include "LinearMath/SimdTransform.h"
#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
#include "BulletCollision/CollisionShapes/btConvexHullShape.h"
#include "NarrowPhaseCollision/GjkPairDetector.h"
#include "NarrowPhaseCollision/PointCollector.h"
#include "NarrowPhaseCollision/VoronoiSimplexSolver.h"
#include "NarrowPhaseCollision/ConvexPenetrationDepthSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
#include "BulletDynamics/NarrowPhaseCollision/btPointCollector.h"
#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h"
#include "GL_ShapeDrawer.h"
#ifdef WIN32 //needed for glut.h

14
Demos/EPAPenDepthDemo/EpaPenDepthDemo.cpp
View File

@@ -24,8 +24,8 @@ subject to the following restrictions:
*/
#include "GL_Simplex1to4.h"
#include "SimdQuaternion.h"
#include "SimdTransform.h"
#include "LinearMath/SimdQuaternion.h"
#include "LinearMath/SimdTransform.h"
#include "GL_ShapeDrawer.h"
#include <GL/glut.h>
#include "GlutStuff.h"
@@ -34,11 +34,11 @@ subject to the following restrictions:
#include <list>
#include <time.h>
#include "CollisionShapes/ConvexShape.h"
#include "CollisionShapes/BoxShape.h"
#include "CollisionShapes/SphereShape.h"
#include "BulletCollision/CollisionShapes/btConvexShape.h"
#include "BulletCollision/CollisionShapes/btBoxShape.h"
#include "BulletCollision/CollisionShapes/btSphereShape.h"
#include "NarrowPhaseCollision/VoronoiSimplexSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
#include "NarrowPhaseCollision/EpaCommon.h"
#include "NarrowPhaseCollision/EpaVertex.h"
@@ -46,7 +46,7 @@ subject to the following restrictions:
#include "NarrowPhaseCollision/EpaFace.h"
#include "NarrowPhaseCollision/EpaPolyhedron.h"
#include "NarrowPhaseCollision/Epa.h"
#include "NarrowPhaseCollision/ConvexPenetrationDepthSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h"
#include "NarrowPhaseCollision/EpaPenetrationDepthSolver.h"
EpaPenetrationDepthSolver epaPenDepthSolver;

2
Demos/ForkLiftDemo/CMakeLists.txt
View File

@@ -48,7 +48,7 @@ ELSE (WIN32)
ENDIF (WIN32)
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/LinearMath ${BULLET_PHYSICS_SOURCE_DIR}/Bullet ${BULLET_PHYSICS_SOURCE_DIR}/BulletDynamics ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL ${BULLET_PHYSICS_SOURCE_DIR}/Extras/PhysicsInterface/Common ${BULLET_PHYSICS_SOURCE_DIR}/Extras/PhysicsInterface/CcdPhysics }
${BULLET_PHYSICS_SOURCE_DIR}/src ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL ${BULLET_PHYSICS_SOURCE_DIR}/Extras/PhysicsInterface/Common ${BULLET_PHYSICS_SOURCE_DIR}/Extras/PhysicsInterface/CcdPhysics }
)
LINK_LIBRARIES(

30
Demos/ForkLiftDemo/ForkLiftDemo.cpp
View File

@@ -23,36 +23,12 @@ subject to the following restrictions:
#include "ParallelPhysicsEnvironment.h"
#include "CcdPhysicsController.h"
//#include "GL_LineSegmentShape.h"
#include "CollisionShapes/BoxShape.h"
#include "CollisionShapes/SphereShape.h"
#include "CollisionShapes/ConeShape.h"
#include "CollisionShapes/StaticPlaneShape.h"
#include "CollisionShapes/CompoundShape.h"
#include "CollisionShapes/Simplex1to4Shape.h"
#include "CollisionShapes/EmptyShape.h"
#include "CollisionShapes/CylinderShape.h"
#include "btBulletDynamicsCommon.h"
#include "CollisionShapes/TriangleMeshShape.h"
#include "CollisionShapes/TriangleIndexVertexArray.h"
#include "CollisionShapes/BvhTriangleMeshShape.h"
#include "CollisionShapes/TriangleMesh.h"
#include "Dynamics/RigidBody.h"
#include "Vehicle/RaycastVehicle.h"
#include "PHY_IVehicle.h"
#include "CollisionDispatch/CollisionDispatcher.h"
#include "ParallelIslandDispatcher.h"
#include "BroadphaseCollision/SimpleBroadphase.h"
#include "BroadphaseCollision/AxisSweep3.h"
#include "ConstraintSolver/Point2PointConstraint.h"
#include "ConstraintSolver/HingeConstraint.h"
#include "quickprof.h"
#include "IDebugDraw.h"
#include "LinearMath/GenQuickprof.h"
#include "LinearMath/GenIDebugDraw.h"
#include "GLDebugDrawer.h"

28
Demos/GjkConvexCastDemo/LinearConvexCastDemo.cpp
View File

@@ -19,23 +19,25 @@
Also comparision with Algebraic CCD and Interval Arithmetic methods (Stephane Redon)
*/
#include "SimdQuaternion.h"
#include "SimdTransform.h"
#include "NarrowPhaseCollision/VoronoiSimplexSolver.h"
#include "CollisionShapes/BoxShape.h"
#include "CollisionShapes/MinkowskiSumShape.h"
#include "NarrowPhaseCollision/GjkPairDetector.h"
#include "NarrowPhaseCollision/GjkConvexCast.h"
#include "NarrowPhaseCollision/ContinuousConvexCollision.h"
#include "NarrowPhaseCollision/SubSimplexConvexCast.h"
///Low level demo, doesn't include btBulletCollisionCommon.h
#include "LinearMath/SimdQuaternion.h"
#include "LinearMath/SimdTransform.h"
#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
#include "BulletCollision/CollisionShapes/btBoxShape.h"
#include "BulletCollision/CollisionShapes/btMinkowskiSumShape.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h"
#include "BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h"
#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
#ifdef USE_ALGEBRAIC_CCD
#include "NarrowPhaseCollision/BU_CollisionPair.h"
#endif //USE_ALGEBRAIC_CCD
#include "CollisionShapes/SphereShape.h"
#include "CollisionShapes/Simplex1to4Shape.h"
#include "BulletCollision/CollisionShapes/btSphereShape.h"
#include "BulletCollision/CollisionShapes/btTetrahedronShape.h"
#include "GL_ShapeDrawer.h"
#include "LinearConvexCastDemo.h"
@@ -119,8 +121,8 @@ void LinearConvexCastDemo::clientMoveAndDisplay()
displayCallback();
}
#include "NarrowPhaseCollision/VoronoiSimplexSolver.h"
#include "NarrowPhaseCollision/ConvexPenetrationDepthSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h"
static VoronoiSimplexSolver sVoronoiSimplexSolver;

6
Demos/Jamfile
View File

@@ -8,7 +8,7 @@ if $(GLUT.AVAILABLE) = "yes"
rule BulletDemo
{
Application $(<) : $(>) : noinstall console nomanifest ;
LinkWith $(<) : bullet bulletopenglsupport bulletphysicsinterfacecommon bulletccdphysics bulletmath ;
LinkWith $(<) : bulletcollision bulletopenglsupport bulletphysicsinterfacecommon bulletccdphysics bulletmath ;
CFlags $(<) :
[ FIncludes $(TOP)/Demos/OpenGL ]
[ FIncludes $(TOP)/Extras/PhysicsInterface/CcdPhysics ]
@@ -24,7 +24,7 @@ if $(GLUT.AVAILABLE) = "yes"
rule ExtraDemo
{
Application $(<) : $(>) : noinstall console nomanifest ;
LinkWith $(<) : collada-dom libxml convexdecomposition bullet bulletopenglsupport bulletphysicsinterfacecommon bulletccdphysics bulletmath ;
LinkWith $(<) : collada-dom libxml convexdecomposition bulletcollision bulletopenglsupport bulletphysicsinterfacecommon bulletccdphysics bulletmath ;
CFlags $(<) :
[ FIncludes $(TOP)/Demos/OpenGL ]
[ FIncludes $(TOP)/Extras/PhysicsInterface/CcdPhysics ]
@@ -62,7 +62,7 @@ else
rule BulletBasicDemo
{
Application $(<) : $(>) : noinstall console nomanifest ;
LinkWith $(<) : bullet bulletphysicsinterfacecommon bulletccdphysics bulletmath ;
LinkWith $(<) : bulletcollision bulletphysicsinterfacecommon bulletccdphysics bulletmath ;
CFlags $(<) :
[ FIncludes $(TOP)/Extras/PhysicsInterface/CcdPhysics ]
[ FIncludes $(TOP)/Extras/PhysicsInterface/Common ]

3
Demos/OpenGL/CMakeLists.txt
View File

@@ -47,7 +47,7 @@ ELSE (WIN32)
ENDIF (WIN32)
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/BulletDynamics ${BULLET_PHYSICS_SOURCE_DIR}/Extras/PhysicsInterface/Common ${BULLET_PHYSICS_SOURCE_DIR}/Extras/PhysicsInterface/CcdPhysics ${BULLET_PHYSICS_SOURCE_DIR}/LinearMath ${BULLET_PHYSICS_SOURCE_DIR}/Bullet }
${BULLET_PHYSICS_SOURCE_DIR}/src ${BULLET_PHYSICS_SOURCE_DIR}/Extras/PhysicsInterface/Common ${BULLET_PHYSICS_SOURCE_DIR}/Extras/PhysicsInterface/CcdPhysics }
)
ADD_LIBRARY(LibOpenGLSupport
@@ -59,4 +59,5 @@ ADD_LIBRARY(LibOpenGLSupport
GLDebugDrawer.cpp
GlutStuff.cpp
RenderTexture.cpp
DemoApplication.cpp
)

4
Demos/OpenGL/DebugCastResult.h
View File

@@ -16,8 +16,8 @@ subject to the following restrictions:
#ifndef DEBUG_CAST_RESULT_H
#define DEBUG_CAST_RESULT_H
#include "NarrowPhaseCollision/ConvexCast.h"
#include "SimdTransform.h"
#include "BulletCollision/NarrowPhaseCollision/btConvexCast.h"
#include "LinearMath/SimdTransform.h"
#include "GL_ShapeDrawer.h"
#ifdef WIN32
#include <windows.h>

10
Demos/OpenGL/DemoApplication.cpp
View File

@@ -14,16 +14,16 @@ subject to the following restrictions:
*/
#include "DemoApplication.h"
#include "IDebugDraw.h"
#include "LinearMath/GenIDebugDraw.h"
#include "CcdPhysicsEnvironment.h"
#include "CcdPhysicsController.h"
#include "ConstraintSolver/Point2PointConstraint.h"//picking
#include "BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h"//picking
#include "PHY_Pro.h"
#include "CollisionShapes/CollisionShape.h"
#include "CollisionShapes/BoxShape.h"
#include "BulletCollision/CollisionShapes/btCollisionShape.h"
#include "BulletCollision/CollisionShapes/btBoxShape.h"
#include "GL_ShapeDrawer.h"
#include "quickprof.h"
#include "LinearMath/GenQuickprof.h"
#include "BMF_Api.h"
int numObjects = 0;

6
Demos/OpenGL/DemoApplication.h
View File

@@ -35,9 +35,9 @@ subject to the following restrictions:
#include <math.h>
#include "SimdVector3.h"
#include "SimdMatrix3x3.h"
#include "SimdTransform.h"
#include "LinearMath/SimdVector3.h"
#include "LinearMath/SimdMatrix3x3.h"
#include "LinearMath/SimdTransform.h"
class CcdPhysicsEnvironment;
class CcdPhysicsController;

2
Demos/OpenGL/GLDebugDrawer.cpp
View File

@@ -1,6 +1,6 @@
#include "GLDebugDrawer.h"
#include "SimdPoint3.h"
#include "LinearMath/SimdPoint3.h"
#ifdef WIN32 //needed for glut.h
#include <windows.h>

2
Demos/OpenGL/GLDebugDrawer.h
View File

@@ -1,7 +1,7 @@
#ifndef GL_DEBUG_DRAWER_H
#define GL_DEBUG_DRAWER_H
#include "IDebugDraw.h"
#include "LinearMath/GenIDebugDraw.h"

20
Demos/OpenGL/GL_ShapeDrawer.cpp
View File

@@ -27,19 +27,19 @@ subject to the following restrictions:
#endif
#include "GL_ShapeDrawer.h"
#include "CollisionShapes/PolyhedralConvexShape.h"
#include "CollisionShapes/TriangleMeshShape.h"
#include "CollisionShapes/BoxShape.h"
#include "CollisionShapes/SphereShape.h"
#include "CollisionShapes/ConeShape.h"
#include "CollisionShapes/CylinderShape.h"
#include "CollisionShapes/Simplex1to4Shape.h"
#include "CollisionShapes/CompoundShape.h"
#include "BulletCollision/CollisionShapes/btPolyhedralConvexShape.h"
#include "BulletCollision/CollisionShapes/btTriangleMeshShape.h"
#include "BulletCollision/CollisionShapes/btBoxShape.h"
#include "BulletCollision/CollisionShapes/btSphereShape.h"
#include "BulletCollision/CollisionShapes/btConeShape.h"
#include "BulletCollision/CollisionShapes/btCylinderShape.h"
#include "BulletCollision/CollisionShapes/btTetrahedronShape.h"
#include "BulletCollision/CollisionShapes/btCompoundShape.h"
#include "CollisionShapes/ConvexTriangleMeshShape.h"
#include "BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h"
#include "IDebugDraw.h"
#include "LinearMath/GenIDebugDraw.h"
//for debugmodes
#include "BMF_Api.h"
#include <stdio.h> //printf debugging

2
Demos/OpenGL/GL_ShapeDrawer.h
View File

@@ -16,7 +16,7 @@ subject to the following restrictions:
#define GL_SHAPE_DRAWER_H
class CollisionShape;
#include "SimdVector3.h"
#include "LinearMath/SimdVector3.h"
/// OpenGL shape drawing
class GL_ShapeDrawer

4
Demos/OpenGL/GL_Simplex1to4.cpp
View File

@@ -13,7 +13,7 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#include "GL_Simplex1to4.h"
#include "NarrowPhaseCollision/SimplexSolverInterface.h"
#include "BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h"
#include "GL_ShapeDrawer.h"
#ifdef WIN32
#include <windows.h>
@@ -26,7 +26,7 @@ subject to the following restrictions:
#else
#include <GL/gl.h>
#endif
#include "SimdTransform.h"
#include "LinearMath/SimdTransform.h"
GL_Simplex1to4::GL_Simplex1to4()
:m_simplexSolver(0)

4
Demos/OpenGL/GL_Simplex1to4.h
View File

@@ -15,9 +15,9 @@ subject to the following restrictions:
#ifndef GL_SIMPLEX_1TO4_H
#define GL_SIMPLEX_1TO4_H
#include "CollisionShapes/Simplex1to4Shape.h"
#include "BulletCollision/CollisionShapes/btTetrahedronShape.h"
#include "NarrowPhaseCollision/SimplexSolverInterface.h"
#include "BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h"
///GL_Simplex1to4 is a class to debug a Simplex Solver with 1 to 4 points.
///Can be used by GJK.

2
Demos/OpenGL/RenderTexture.h
View File

@@ -16,7 +16,7 @@ subject to the following restrictions:
#ifndef RENDER_TEXTURE_H
#define RENDER_TEXTURE_H
#include "SimdVector3.h"
#include "LinearMath/SimdVector3.h"
#include "BMF_FontData.h"
///

30
Demos/Raytracer/Raytracer.cpp
View File

@@ -16,31 +16,33 @@ Raytracer uses the Convex Raycast to visualize the Collision Shapes/Minkowski Su
Very basic raytracer, rendering into a texture.
*/
///Low level demo, doesn't include btBulletCollisionCommon.h
#include "GL_Simplex1to4.h"
#include "SimdQuaternion.h"
#include "SimdTransform.h"
#include "LinearMath/SimdQuaternion.h"
#include "LinearMath/SimdTransform.h"
#include "GL_ShapeDrawer.h"
#include "Raytracer.h"
#include "GlutStuff.h"
#include "NarrowPhaseCollision/VoronoiSimplexSolver.h"
#include "NarrowPhaseCollision/SubSimplexConvexCast.h"
#include "NarrowPhaseCollision/GjkConvexCast.h"
#include "NarrowPhaseCollision/ContinuousConvexCollision.h"
#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h"
#include "BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h"
#ifdef USE_ALGEBRAIC_CCD
#include "NarrowPhaseCollision/BU_CollisionPair.h"
#endif //USE_ALGEBRAIC_CCD
#include "CollisionShapes/SphereShape.h"
#include "CollisionShapes/MultiSphereShape.h"
#include "CollisionShapes/ConvexHullShape.h"
#include "CollisionShapes/BoxShape.h"
#include "CollisionShapes/Simplex1to4Shape.h"
#include "CollisionShapes/ConeShape.h"
#include "CollisionShapes/CylinderShape.h"
#include "CollisionShapes/MinkowskiSumShape.h"
#include "BulletCollision/CollisionShapes/btSphereShape.h"
#include "BulletCollision/CollisionShapes/btMultiSphereShape.h"
#include "BulletCollision/CollisionShapes/btConvexHullShape.h"
#include "BulletCollision/CollisionShapes/btBoxShape.h"
#include "BulletCollision/CollisionShapes/btTetrahedronShape.h"
#include "BulletCollision/CollisionShapes/btConeShape.h"
#include "BulletCollision/CollisionShapes/btCylinderShape.h"
#include "BulletCollision/CollisionShapes/btMinkowskiSumShape.h"

6
Demos/SimplexDemo/SimplexDemo.cpp
View File

@@ -19,11 +19,11 @@ subject to the following restrictions:
*/
#include "GL_Simplex1to4.h"
#include "SimdQuaternion.h"
#include "SimdTransform.h"
#include "LinearMath/SimdQuaternion.h"
#include "LinearMath/SimdTransform.h"
#include "GL_ShapeDrawer.h"
#include "NarrowPhaseCollision/VoronoiSimplexSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
#include "SimplexDemo.h"
#include "GlutStuff.h"

2
Demos/UserCollisionAlgorithm/CMakeLists.txt
View File

@@ -48,7 +48,7 @@ ELSE (WIN32)
ENDIF (WIN32)
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/LinearMath ${BULLET_PHYSICS_SOURCE_DIR}/Bullet ${BULLET_PHYSICS_SOURCE_DIR}/BulletDynamics ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL ${BULLET_PHYSICS_SOURCE_DIR}/Extras/PhysicsInterface/Common ${BULLET_PHYSICS_SOURCE_DIR}/Extras/PhysicsInterface/CcdPhysics }
${BULLET_PHYSICS_SOURCE_DIR}/src ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL ${BULLET_PHYSICS_SOURCE_DIR}/Extras/PhysicsInterface/Common ${BULLET_PHYSICS_SOURCE_DIR}/Extras/PhysicsInterface/CcdPhysics }
)
LINK_LIBRARIES(

23
Demos/UserCollisionAlgorithm/UserCollisionAlgorithm.cpp
View File

@@ -15,25 +15,8 @@ subject to the following restrictions:
#include "CcdPhysicsEnvironment.h"
#include "CcdPhysicsController.h"
#include "CollisionShapes/BoxShape.h"
#include "CollisionShapes/SphereShape.h"
#include "CollisionShapes/Simplex1to4Shape.h"
#include "Dynamics/RigidBody.h"
#include "BroadphaseCollision/AxisSweep3.h"
#include "ConstraintSolver/SequentialImpulseConstraintSolver.h"
#include "CollisionDispatch/CollisionDispatcher.h"
#include "BroadphaseCollision/SimpleBroadphase.h"
#include "BroadphaseCollision/AxisSweep3.h"
#include "CollisionShapes/TriangleMeshShape.h"
#include "CollisionShapes/TriangleIndexVertexArray.h"
#include "CollisionShapes/BvhTriangleMeshShape.h"
#include "CollisionShapes/TriangleMesh.h"
#include "IDebugDraw.h"
#include "btBulletDynamicsCommon.h"
#include "LinearMath/GenIDebugDraw.h"
#include "GLDebugDrawer.h"
#include "PHY_Pro.h"
#include "UserCollisionAlgorithm.h"
@@ -41,7 +24,7 @@ subject to the following restrictions:
#include "GlutStuff.h"
//The user defined collision algorithm
#include "CollisionDispatch/SphereSphereCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h"
GLDebugDrawer debugDrawer;

2
Demos/VehicleDemo/CMakeLists.txt
View File

@@ -48,7 +48,7 @@ ELSE (WIN32)
ENDIF (WIN32)
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/LinearMath ${BULLET_PHYSICS_SOURCE_DIR}/Bullet ${BULLET_PHYSICS_SOURCE_DIR}/BulletDynamics ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL ${BULLET_PHYSICS_SOURCE_DIR}/Extras/PhysicsInterface/Common ${BULLET_PHYSICS_SOURCE_DIR}/Extras/PhysicsInterface/CcdPhysics }
${BULLET_PHYSICS_SOURCE_DIR}/src ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL ${BULLET_PHYSICS_SOURCE_DIR}/Extras/PhysicsInterface/Common ${BULLET_PHYSICS_SOURCE_DIR}/Extras/PhysicsInterface/CcdPhysics }
)
LINK_LIBRARIES(

29
Demos/VehicleDemo/VehicleDemo.cpp
View File

@@ -21,38 +21,15 @@ subject to the following restrictions:
#include "CcdPhysicsEnvironment.h"
#include "ParallelPhysicsEnvironment.h"
#include "CcdPhysicsController.h"
//#include "GL_LineSegmentShape.h"
#include "CollisionShapes/BoxShape.h"
#include "CollisionShapes/SphereShape.h"
#include "CollisionShapes/ConeShape.h"
#include "CollisionShapes/StaticPlaneShape.h"
#include "CollisionShapes/CompoundShape.h"
#include "CollisionShapes/Simplex1to4Shape.h"
#include "CollisionShapes/EmptyShape.h"
#include "CollisionShapes/CylinderShape.h"
#include "btBulletDynamicsCommon.h"
#include "CollisionShapes/TriangleMeshShape.h"
#include "CollisionShapes/TriangleIndexVertexArray.h"
#include "CollisionShapes/BvhTriangleMeshShape.h"
#include "CollisionShapes/TriangleMesh.h"
#include "Dynamics/RigidBody.h"
#include "Vehicle/RaycastVehicle.h"
#include "PHY_IVehicle.h"
#include "CollisionDispatch/CollisionDispatcher.h"
#include "ParallelIslandDispatcher.h"
#include "BroadphaseCollision/SimpleBroadphase.h"
#include "BroadphaseCollision/AxisSweep3.h"
#include "ConstraintSolver/Point2PointConstraint.h"
#include "ConstraintSolver/HingeConstraint.h"
#include "quickprof.h"
#include "IDebugDraw.h"
#include "LinearMath/GenQuickprof.h"
#include "LinearMath/GenIDebugDraw.h"
#include "GLDebugDrawer.h"

2
Doxyfile
View File

@@ -267,7 +267,7 @@ WARN_LOGFILE =
# directories like "/usr/src/myproject". Separate the files or directories
# with spaces.
INPUT = Bullet BulletDynamics LinearMath Extras/PhysicsInterface Demos
INPUT = src Extras/PhysicsInterface Demos
# If the value of the INPUT tag contains directories, you can use the

4
Extras/AlgebraicCCD/BU_Collidable.cpp
View File

@@ -15,8 +15,8 @@ subject to the following restrictions:
#include "BU_Collidable.h"
#include "CollisionShapes/CollisionShape.h"
#include <SimdTransform.h>
#include "BulletCollision/CollisionShapes/btCollisionShape.h"
#include <LinearMath/SimdTransform.h>
#include "BU_MotionStateInterface.h"
BU_Collidable::BU_Collidable(BU_MotionStateInterface& motion,PolyhedralConvexShape& shape,void* userPointer )

2
Extras/AlgebraicCCD/BU_Collidable.h
View File

@@ -20,7 +20,7 @@ subject to the following restrictions:
class PolyhedralConvexShape;
class BU_MotionStateInterface;
#include <SimdPoint3.h>
#include <LinearMath/SimdPoint3.h>
class BU_Collidable
{

4
Extras/AlgebraicCCD/BU_CollisionPair.cpp
View File

@@ -22,9 +22,9 @@ subject to the following restrictions:
#include "BU_MotionStateInterface.h"
#include "CollisionShapes/PolyhedralConvexShape.h"
#include "BulletCollision/CollisionShapes/btPolyhedralConvexShape.h"
#include <SimdMinMax.h>
#include "SimdTransformUtil.h"
#include "LinearMath/SimdTransformUtil.h"

4
Extras/AlgebraicCCD/BU_EdgeEdge.cpp
View File

@@ -16,8 +16,8 @@ subject to the following restrictions:
#include "BU_EdgeEdge.h"
#include "BU_Screwing.h"
#include <SimdPoint3.h>
#include <SimdPoint3.h>
#include <LinearMath/SimdPoint3.h>
#include <LinearMath/SimdPoint3.h>
//#include "BU_IntervalArithmeticPolynomialSolver.h"
#include "BU_AlgebraicPolynomialSolver.h"

8
Extras/AlgebraicCCD/BU_EdgeEdge.h
View File

@@ -18,13 +18,13 @@ subject to the following restrictions:
#define BU_EDGEEDGE
class BU_Screwing;
#include <SimdTransform.h>
#include <SimdPoint3.h>
#include <SimdVector3.h>
#include <LinearMath/SimdTransform.h>
#include <LinearMath/SimdPoint3.h>
#include <LinearMath/SimdVector3.h>
//class BUM_Point2;
#include <SimdScalar.h>
#include <LinearMath/SimdScalar.h>
///BU_EdgeEdge implements algebraic time of impact calculation between two (angular + linear) moving edges.
class BU_EdgeEdge

4
Extras/AlgebraicCCD/BU_MotionStateInterface.h
View File

@@ -18,8 +18,8 @@ subject to the following restrictions:
#define BU_MOTIONSTATE
#include <SimdTransform.h>
#include <SimdPoint3.h>
#include <LinearMath/SimdTransform.h>
#include <LinearMath/SimdPoint3.h>
#include <SimdQuaternion.h>
class BU_MotionStateInterface

2
Extras/AlgebraicCCD/BU_PolynomialSolverInterface.h
View File

@@ -15,7 +15,7 @@ subject to the following restrictions:
#ifndef BUM_POLYNOMIAL_SOLVER_INTERFACE
#define BUM_POLYNOMIAL_SOLVER_INTERFACE
#include <SimdScalar.h>
#include <LinearMath/SimdScalar.h>
//
//BUM_PolynomialSolverInterface is interface class for polynomial root finding.
//The number of roots is returned as a result, query GetRoot to get the actual solution.

6
Extras/AlgebraicCCD/BU_Screwing.h
View File

@@ -18,9 +18,9 @@ subject to the following restrictions:
#define B_SCREWING_H
#include <SimdVector3.h>
#include <SimdPoint3.h>
#include <SimdTransform.h>
#include <LinearMath/SimdVector3.h>
#include <LinearMath/SimdPoint3.h>
#include <LinearMath/SimdTransform.h>
#define SCREWEPSILON 0.00001f

6
Extras/AlgebraicCCD/BU_VertexPoly.cpp
View File

@@ -17,9 +17,9 @@ subject to the following restrictions:
#include "BU_VertexPoly.h"
#include "BU_Screwing.h"
#include <SimdTransform.h>
#include <SimdPoint3.h>
#include <SimdVector3.h>
#include <LinearMath/SimdTransform.h>
#include <LinearMath/SimdPoint3.h>
#include <LinearMath/SimdVector3.h>
#define USE_ALGEBRAIC
#ifdef USE_ALGEBRAIC

6
Extras/AlgebraicCCD/BU_VertexPoly.h
View File

@@ -19,9 +19,9 @@ subject to the following restrictions:
class BU_Screwing;
#include <SimdTransform.h>
#include <SimdPoint3.h>
#include <SimdScalar.h>
#include <LinearMath/SimdTransform.h>
#include <LinearMath/SimdPoint3.h>
#include <LinearMath/SimdScalar.h>
///BU_VertexPoly implements algebraic time of impact calculation between vertex and a plane.
class BU_VertexPoly

6
Extras/AlternativeCollisionAlgorithms/SphereSphereCollisionAlgorithm.cpp
View File

@@ -14,9 +14,9 @@ subject to the following restrictions:
*/
#include "SphereSphereCollisionAlgorithm.h"
#include "CollisionDispatch/CollisionDispatcher.h"
#include "CollisionShapes/SphereShape.h"
#include "CollisionDispatch/CollisionObject.h"
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
#include "BulletCollision/CollisionShapes/btSphereShape.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
SphereSphereCollisionAlgorithm::SphereSphereCollisionAlgorithm(PersistentManifold* mf,const CollisionAlgorithmConstructionInfo& ci,BroadphaseProxy* proxy0,BroadphaseProxy* proxy1)
: CollisionAlgorithm(ci),

6
Extras/AlternativeCollisionAlgorithms/SphereSphereCollisionAlgorithm.h
View File

@@ -16,9 +16,9 @@ subject to the following restrictions:
#ifndef SPHERE_SPHERE_COLLISION_ALGORITHM_H
#define SPHERE_SPHERE_COLLISION_ALGORITHM_H
#include "BroadphaseCollision/CollisionAlgorithm.h"
#include "BroadphaseCollision/BroadphaseProxy.h"
#include "CollisionDispatch/CollisionCreateFunc.h"
#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
class PersistentManifold;
/// SphereSphereCollisionAlgorithm provides sphere-sphere collision detection.

14
Extras/EPA/Epa.cpp
View File

@@ -15,19 +15,19 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#include "SimdScalar.h"
#include "SimdVector3.h"
#include "SimdPoint3.h"
#include "SimdTransform.h"
#include "SimdMinMax.h"
#include "LinearMath/SimdScalar.h"
#include "LinearMath/SimdVector3.h"
#include "LinearMath/SimdPoint3.h"
#include "LinearMath/SimdTransform.h"
#include "LinearMath/SimdMinMax.h"
#include "CollisionShapes/ConvexShape.h"
#include "BulletCollision/CollisionShapes/btConvexShape.h"
#include <vector>
#include <list>
#include <algorithm>
#include "NarrowPhaseCollision/SimplexSolverInterface.h"
#include "BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h"
#include "NarrowPhaseCollision/EpaCommon.h"

6
Extras/EPA/EpaFace.cpp
View File

@@ -14,9 +14,9 @@ subject to the following restrictions:
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "SimdScalar.h"
#include "SimdVector3.h"
#include "SimdPoint3.h"
#include "LinearMath/SimdScalar.h"
#include "LinearMath/SimdVector3.h"
#include "LinearMath/SimdPoint3.h"
#include "NarrowPhaseCollision/EpaCommon.h"

16
Extras/EPA/EpaPenetrationDepthSolver.cpp
View File

@@ -14,17 +14,17 @@ subject to the following restrictions:
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "SimdScalar.h"
#include "SimdVector3.h"
#include "SimdPoint3.h"
#include "SimdTransform.h"
#include "SimdMinMax.h"
#include "LinearMath/SimdScalar.h"
#include "LinearMath/SimdVector3.h"
#include "LinearMath/SimdPoint3.h"
#include "LinearMath/SimdTransform.h"
#include "LinearMath/SimdMinMax.h"
#include <list>
#include "CollisionShapes/ConvexShape.h"
#include "BulletCollision/CollisionShapes/btConvexShape.h"
#include "NarrowPhaseCollision/SimplexSolverInterface.h"
#include "BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h"
#include "NarrowPhaseCollision/EpaCommon.h"
@@ -33,7 +33,7 @@ subject to the following restrictions:
#include "NarrowPhaseCollision/EpaFace.h"
#include "NarrowPhaseCollision/EpaPolyhedron.h"
#include "NarrowPhaseCollision/Epa.h"
#include "NarrowPhaseCollision/ConvexPenetrationDepthSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h"
#include "NarrowPhaseCollision/EpaPenetrationDepthSolver.h"
SimdScalar g_GJKMaxRelError = 1e-3f;

6
Extras/EPA/EpaPolyhedron.cpp
View File

@@ -14,9 +14,9 @@ subject to the following restrictions:
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "SimdScalar.h"
#include "SimdVector3.h"
#include "SimdPoint3.h"
#include "LinearMath/SimdScalar.h"
#include "LinearMath/SimdVector3.h"
#include "LinearMath/SimdPoint3.h"
#include "Memory2.h"
#include <list>

4
Extras/ExtraSolid35/CombinedSimplexSolver.h
View File

@@ -12,8 +12,8 @@
#ifndef COMBINED_SIMPLEX_SOLVER
#define COMBINED_SIMPLEX_SOLVER
#include "NarrowPhaseCollision/SimplexSolverInterface.h"
#include "NarrowPhaseCollision/VoronoiSimplexSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h"
#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
#include "Solid3JohnsonSimplexSolver.h"
/// CombinedSimplexSolver runs both Solid and Voronoi Simplex Solver for comparison

6
Extras/ExtraSolid35/Solid3EpaPenetrationDepth.cpp
View File

@@ -24,9 +24,9 @@
#include "Solid3EpaPenetrationDepth.h"
#include <algorithm>
#include <vector>
#include "NarrowPhaseCollision/SimplexSolverInterface.h"
#include "CollisionShapes/ConvexShape.h"
#include "GEN_MinMax.h"
#include "BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h"
#include "BulletCollision/CollisionShapes/btConvexShape.h"
#include "LinearMath/GenMinMax.h"
#define ASSERT_MESSAGE

2
Extras/ExtraSolid35/Solid3EpaPenetrationDepth.h
View File

@@ -25,7 +25,7 @@
#define SOLID3_EPA_PENETRATION_DEPTH_H
#include "NarrowPhaseCollision/ConvexPenetrationDepthSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h"
/// Solid3EpaPenetrationDepth contains the 'Expanding Polytope Algorithm' from Solid 3.5
class Solid3EpaPenetrationDepth : public ConvexPenetrationDepthSolver

2
Extras/ExtraSolid35/Solid3JohnsonSimplexSolver.cpp
View File

@@ -22,7 +22,7 @@
*/
#include "Solid3JohnsonSimplexSolver.h"
#include "GEN_MinMax.h"
#include "LinearMath/GenMinMax.h"
//#define USE_BACKUP_PROCEDURE
//#define FAST_CLOSEST

2
Extras/ExtraSolid35/Solid3JohnsonSimplexSolver.h
View File

@@ -24,7 +24,7 @@
#ifndef SOLID3JOHNSON_SIMPLEX_SOLVER_H
#define SOLID3JOHNSON_SIMPLEX_SOLVER_H
#include "NarrowPhaseCollision/SimplexSolverInterface.h"
#include "BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h"
//#define JOHNSON_ROBUST

2775
Extras/LibXML/Makefile
View File

File diff suppressed because it is too large Load Diff

4
Extras/PhysicsInterface/CcdPhysics/CMakeLists.txt
View File

@@ -1,5 +1,5 @@
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/LinearMath ${BULLET_PHYSICS_SOURCE_DIR}/Bullet ${BULLET_PHYSICS_SOURCE_DIR}/BulletDynamics ${BULLET_PHYSICS_SOURCE_DIR}/Extras/PhysicsInterface/Common ${BULLET_PHYSICS_SOURCE_DIR}/Extras/PhysicsInterface/CcdPhysics }
${BULLET_PHYSICS_SOURCE_DIR}/src ${BULLET_PHYSICS_SOURCE_DIR}/Extras/PhysicsInterface/Common ${BULLET_PHYSICS_SOURCE_DIR}/Extras/PhysicsInterface/CcdPhysics }
)
ADD_LIBRARY(LibCcdPhysicsInterface
@@ -8,4 +8,4 @@ ADD_LIBRARY(LibCcdPhysicsInterface
ParallelIslandDispatcher.cpp
ParallelPhysicsEnvironment.cpp
SimulationIsland.cpp
)
)

16
Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.cpp
View File

@@ -15,16 +15,16 @@ subject to the following restrictions:
#include "CcdPhysicsController.h"
#include "Dynamics/RigidBody.h"
#include "BulletDynamics/Dynamics/btRigidBody.h"
#include "PHY_IMotionState.h"
#include "BroadphaseCollision/BroadphaseProxy.h"
#include "BroadphaseCollision/BroadphaseInterface.h"
#include "CollisionShapes/ConvexShape.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
#include "BulletCollision/CollisionShapes/btConvexShape.h"
#include "CcdPhysicsEnvironment.h"
#include "SimdTransformUtil.h"
#include "LinearMath/SimdTransformUtil.h"
#include "CollisionShapes/SphereShape.h"
#include "CollisionShapes/ConeShape.h"
#include "BulletCollision/CollisionShapes/btSphereShape.h"
#include "BulletCollision/CollisionShapes/btConeShape.h"
class BP_Proxy;
@@ -37,7 +37,7 @@ bool gDisableDeactivation = false;
float gLinearSleepingTreshold = 0.8f;
float gAngularSleepingTreshold = 1.0f;
#include "Dynamics/MassProps.h"
#include "BulletDynamics/Dynamics/btMassProps.h"
SimdVector3 startVel(0,0,0);//-10000);
CcdPhysicsController::CcdPhysicsController (const CcdConstructionInfo& ci)

12
Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.h
View File

@@ -21,15 +21,15 @@ subject to the following restrictions:
/// PHY_IPhysicsController is the abstract simplified Interface to a physical object.
/// It contains the IMotionState and IDeformableMesh Interfaces.
#include "SimdVector3.h"
#include "SimdScalar.h"
#include "SimdMatrix3x3.h"
#include "SimdTransform.h"
#include "Dynamics/RigidBody.h"
#include "LinearMath/SimdVector3.h"
#include "LinearMath/SimdScalar.h"
#include "LinearMath/SimdMatrix3x3.h"
#include "LinearMath/SimdTransform.h"
#include "BulletDynamics/Dynamics/btRigidBody.h"
#include "PHY_IMotionState.h"
#include "BroadphaseCollision/BroadphaseProxy.h" //for CollisionShape access
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" //for CollisionShape access
class CollisionShape;
extern float gDeactivationTime;

65
Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.cpp
View File

@@ -20,62 +20,62 @@ subject to the following restrictions:
#include "CcdPhysicsController.h"
#include <algorithm>
#include "SimdTransform.h"
#include "Dynamics/RigidBody.h"
#include "BroadphaseCollision/BroadphaseInterface.h"
#include "BroadphaseCollision/SimpleBroadphase.h"
#include "BroadphaseCollision/AxisSweep3.h"
#include "LinearMath/SimdTransform.h"
#include "BulletDynamics/Dynamics/btRigidBody.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
#include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.h"
#include "BulletCollision/BroadphaseCollision/btAxisSweep3.h"
#include "CollisionDispatch/CollisionWorld.h"
#include "BulletCollision/CollisionDispatch/btCollisionWorld.h"
#include "CollisionShapes/ConvexShape.h"
#include "CollisionShapes/ConeShape.h"
#include "CollisionDispatch/SimulationIslandManager.h"
#include "BulletCollision/CollisionShapes/btConvexShape.h"
#include "BulletCollision/CollisionShapes/btConeShape.h"
#include "BulletCollision/CollisionDispatch/btSimulationIslandManager.h"
#include "BroadphaseCollision/Dispatcher.h"
#include "NarrowPhaseCollision/PersistentManifold.h"
#include "CollisionShapes/TriangleMeshShape.h"
#include "ConstraintSolver/SequentialImpulseConstraintSolver.h"
#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
#include "BulletCollision/CollisionShapes/btTriangleMeshShape.h"
#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h"
//profiling/timings
#include "quickprof.h"
#include "LinearMath/GenQuickprof.h"
#include "IDebugDraw.h"
#include "LinearMath/GenIDebugDraw.h"
#include "NarrowPhaseCollision/VoronoiSimplexSolver.h"
#include "NarrowPhaseCollision/SubSimplexConvexCast.h"
#include "NarrowPhaseCollision/GjkConvexCast.h"
#include "NarrowPhaseCollision/ContinuousConvexCollision.h"
#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h"
#include "BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h"
#include "CollisionDispatch/CollisionDispatcher.h"
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
#include "PHY_IMotionState.h"
#include "CollisionDispatch/EmptyCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h"
#include "CollisionShapes/SphereShape.h"
#include "BulletCollision/CollisionShapes/btSphereShape.h"
bool useIslands = true;
#ifdef NEW_BULLET_VEHICLE_SUPPORT
#include "Vehicle/RaycastVehicle.h"
#include "Vehicle/VehicleRaycaster.h"
#include "BulletDynamics/Vehicle/btRaycastVehicle.h"
#include "BulletDynamics/Vehicle/btVehicleRaycaster.h"
#include "Vehicle/WheelInfo.h"
#include "BulletDynamics/Vehicle/btWheelInfo.h"
#include "PHY_IVehicle.h"
RaycastVehicle::VehicleTuning gTuning;
#endif //NEW_BULLET_VEHICLE_SUPPORT
#include "AabbUtil2.h"
#include "LinearMath/GenAabbUtil2.h"
#include "ConstraintSolver/ConstraintSolver.h"
#include "ConstraintSolver/Point2PointConstraint.h"
#include "ConstraintSolver/HingeConstraint.h"
#include "ConstraintSolver/Generic6DofConstraint.h"
#include "BulletDynamics/ConstraintSolver/btConstraintSolver.h"
#include "BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h"
#include "BulletDynamics/ConstraintSolver/btHingeConstraint.h"
#include "BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h"
//#include "BroadphaseCollision/QueryDispatcher.h"
@@ -87,7 +87,7 @@ void DrawRasterizerLine(const float* from,const float* to,int color);
#endif
#include "ConstraintSolver/ContactConstraint.h"
#include "BulletDynamics/ConstraintSolver/btContactConstraint.h"
#include <stdio.h>
@@ -1120,6 +1120,9 @@ public:
{
}
virtual ~DefaultVehicleRaycaster()
{
}
/* struct VehicleRaycasterResult
{
VehicleRaycasterResult() :m_distFraction(-1.f){};

8
Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.h
View File

@@ -19,8 +19,8 @@ subject to the following restrictions:
#include "PHY_IPhysicsEnvironment.h"
#include <vector>
class CcdPhysicsController;
#include "SimdVector3.h"
#include "SimdTransform.h"
#include "LinearMath/SimdVector3.h"
#include "LinearMath/SimdTransform.h"
@@ -29,12 +29,12 @@ class TypedConstraint;
class SimulationIslandManager;
class CollisionDispatcher;
class Dispatcher;
//#include "BroadphaseInterface.h"
//#include "btBroadphaseInterface.h"
//switch on/off new vehicle support
#define NEW_BULLET_VEHICLE_SUPPORT 1
#include "ConstraintSolver/ContactSolverInfo.h"
#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
class WrapperVehicle;
class PersistentManifold;

2
Extras/PhysicsInterface/CcdPhysics/Jamfile
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@@ -4,7 +4,7 @@ IncludeDir Extras/PhysicsInterface/Common ;
Library bulletccdphysics : [ Wildcard *.h *.cpp ] ;
CFlags bulletccdphysics : [ FIncludes $(TOP)/Extras/PhysicsInterface/Common ] ;
LibDepends bulletccdphysics : bullet bulletphysicsinterfacecommon bulletdynamics ;
LibDepends bulletccdphysics : bulletcollision bulletphysicsinterfacecommon bulletdynamics ;
InstallHeader [ Wildcard *.h ] : CcdPhysics ;

14
Extras/PhysicsInterface/CcdPhysics/ParallelIslandDispatcher.cpp
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@@ -17,14 +17,14 @@ subject to the following restrictions:
#include "ParallelIslandDispatcher.h"
#include "BroadphaseCollision/CollisionAlgorithm.h"
#include "CollisionDispatch/ConvexConvexAlgorithm.h"
#include "CollisionDispatch/EmptyCollisionAlgorithm.h"
#include "CollisionDispatch/ConvexConcaveCollisionAlgorithm.h"
#include "CollisionDispatch/CompoundCollisionAlgorithm.h"
#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h"
#include "CollisionShapes/CollisionShape.h"
#include "CollisionDispatch/CollisionObject.h"
#include "BulletCollision/CollisionShapes/btCollisionShape.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include <algorithm>
static int gNumManifold2 = 0;

12
Extras/PhysicsInterface/CcdPhysics/ParallelIslandDispatcher.h
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@@ -16,18 +16,18 @@ subject to the following restrictions:
#ifndef PARALLEL_ISLAND_DISPATCHER_H
#define PARALLEL_ISLAND_DISPATCHER_H
#include "BroadphaseCollision/Dispatcher.h"
#include "NarrowPhaseCollision/PersistentManifold.h"
#include "CollisionDispatch/UnionFind.h"
#include "CollisionDispatch/ManifoldResult.h"
#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
#include "BulletCollision/CollisionDispatch/btUnionFind.h"
#include "BulletCollision/CollisionDispatch/btManifoldResult.h"
#include "BroadphaseCollision/BroadphaseProxy.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
#include <vector>
class IDebugDraw;
#include "CollisionDispatch/CollisionCreateFunc.h"
#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"

6
Extras/PhysicsInterface/CcdPhysics/ParallelPhysicsEnvironment.cpp
View File

@@ -18,9 +18,9 @@ subject to the following restrictions:
#include "ParallelPhysicsEnvironment.h"
#include "CcdPhysicsController.h"
#include "ParallelIslandDispatcher.h"
#include "CollisionDispatch/CollisionWorld.h"
#include "ConstraintSolver/TypedConstraint.h"
#include "CollisionDispatch/SimulationIslandManager.h"
#include "BulletCollision/CollisionDispatch/btCollisionWorld.h"
#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
#include "BulletCollision/CollisionDispatch/btSimulationIslandManager.h"
#include "SimulationIsland.h"

16
Extras/PhysicsInterface/CcdPhysics/SimulationIsland.cpp
View File

@@ -14,15 +14,15 @@ subject to the following restrictions:
*/
#include "SimulationIsland.h"
#include "SimdTransform.h"
#include "LinearMath/SimdTransform.h"
#include "CcdPhysicsController.h"
#include "BroadphaseCollision/OverlappingPairCache.h"
#include "CollisionShapes/CollisionShape.h"
#include "BroadphaseCollision/Dispatcher.h"
#include "ConstraintSolver/ContactSolverInfo.h"
#include "ConstraintSolver/ConstraintSolver.h"
#include "ConstraintSolver/TypedConstraint.h"
#include "IDebugDraw.h"
#include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h"
#include "BulletCollision/CollisionShapes/btCollisionShape.h"
#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
#include "BulletDynamics/ConstraintSolver/btConstraintSolver.h"
#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
#include "LinearMath/GenIDebugDraw.h"
extern float gContactBreakingTreshold;

4
Extras/PhysicsInterface/Common/CMakeLists.txt
View File

@@ -1,5 +1,5 @@
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/LinearMath ${BULLET_PHYSICS_SOURCE_DIR}/Extras/PhysicsInterface/Common }
${BULLET_PHYSICS_SOURCE_DIR}src ${BULLET_PHYSICS_SOURCE_DIR}/Extras/PhysicsInterface/Common }
)
ADD_LIBRARY(LibPhysicsCommonInterface
@@ -7,4 +7,4 @@ ADD_LIBRARY(LibPhysicsCommonInterface
PHY_IPhysicsController.cpp
PHY_IPhysicsEnvironment.cpp
PHY_IVehicle.cpp
)
)

0
LinearMath/Geometry.cpp → Extras/SATConvexCollision/Geometry.cpp
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0
LinearMath/Geometry.h → Extras/SATConvexCollision/Geometry.h
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0
LinearMath/Geometry.inl → Extras/SATConvexCollision/Geometry.inl
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0
Bullet/NarrowPhaseCollision/Hull.cpp → Extras/SATConvexCollision/Hull.cpp
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0
Bullet/NarrowPhaseCollision/Hull.h → Extras/SATConvexCollision/Hull.h
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0
Bullet/NarrowPhaseCollision/Hull.inl → Extras/SATConvexCollision/Hull.inl
View File

0
Bullet/NarrowPhaseCollision/HullContactCollector.h → Extras/SATConvexCollision/HullContactCollector.h
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0
LinearMath/Maths.h → Extras/SATConvexCollision/Maths.h
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0
LinearMath/Matrix.cpp → Extras/SATConvexCollision/Matrix.cpp
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0
LinearMath/Matrix.h → Extras/SATConvexCollision/Matrix.h
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0
LinearMath/Matrix.inl → Extras/SATConvexCollision/Matrix.inl
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0
LinearMath/Memory2.h → Extras/SATConvexCollision/Memory2.h
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0
LinearMath/Quat.cpp → Extras/SATConvexCollision/Quat.cpp
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