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move static globals inside static member functions, to avoid hassle with C#/CLI/C++ managed code, compile error C3820

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This commit is contained in:
erwin.coumans
2010-02-03 23:27:22 +00:00
parent c1e20e98c7
commit 219517db2d
8 changed files with 152 additions and 116 deletions
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101
src/BulletCollision/CollisionShapes/btShapeHull.cpp
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@@ -21,52 +21,6 @@ subject to the following restrictions:
#define NUM_UNITSPHERE_POINTS 42 #define NUM_UNITSPHERE_POINTS 42
static btVector3 btUnitSpherePoints[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2] =
{
btVector3(btScalar(0.000000) , btScalar(-0.000000),btScalar(-1.000000)),
btVector3(btScalar(0.723608) , btScalar(-0.525725),btScalar(-0.447219)),
btVector3(btScalar(-0.276388) , btScalar(-0.850649),btScalar(-0.447219)),
btVector3(btScalar(-0.894426) , btScalar(-0.000000),btScalar(-0.447216)),
btVector3(btScalar(-0.276388) , btScalar(0.850649),btScalar(-0.447220)),
btVector3(btScalar(0.723608) , btScalar(0.525725),btScalar(-0.447219)),
btVector3(btScalar(0.276388) , btScalar(-0.850649),btScalar(0.447220)),
btVector3(btScalar(-0.723608) , btScalar(-0.525725),btScalar(0.447219)),
btVector3(btScalar(-0.723608) , btScalar(0.525725),btScalar(0.447219)),
btVector3(btScalar(0.276388) , btScalar(0.850649),btScalar(0.447219)),
btVector3(btScalar(0.894426) , btScalar(0.000000),btScalar(0.447216)),
btVector3(btScalar(-0.000000) , btScalar(0.000000),btScalar(1.000000)),
btVector3(btScalar(0.425323) , btScalar(-0.309011),btScalar(-0.850654)),
btVector3(btScalar(-0.162456) , btScalar(-0.499995),btScalar(-0.850654)),
btVector3(btScalar(0.262869) , btScalar(-0.809012),btScalar(-0.525738)),
btVector3(btScalar(0.425323) , btScalar(0.309011),btScalar(-0.850654)),
btVector3(btScalar(0.850648) , btScalar(-0.000000),btScalar(-0.525736)),
btVector3(btScalar(-0.525730) , btScalar(-0.000000),btScalar(-0.850652)),
btVector3(btScalar(-0.688190) , btScalar(-0.499997),btScalar(-0.525736)),
btVector3(btScalar(-0.162456) , btScalar(0.499995),btScalar(-0.850654)),
btVector3(btScalar(-0.688190) , btScalar(0.499997),btScalar(-0.525736)),
btVector3(btScalar(0.262869) , btScalar(0.809012),btScalar(-0.525738)),
btVector3(btScalar(0.951058) , btScalar(0.309013),btScalar(0.000000)),
btVector3(btScalar(0.951058) , btScalar(-0.309013),btScalar(0.000000)),
btVector3(btScalar(0.587786) , btScalar(-0.809017),btScalar(0.000000)),
btVector3(btScalar(0.000000) , btScalar(-1.000000),btScalar(0.000000)),
btVector3(btScalar(-0.587786) , btScalar(-0.809017),btScalar(0.000000)),
btVector3(btScalar(-0.951058) , btScalar(-0.309013),btScalar(-0.000000)),
btVector3(btScalar(-0.951058) , btScalar(0.309013),btScalar(-0.000000)),
btVector3(btScalar(-0.587786) , btScalar(0.809017),btScalar(-0.000000)),
btVector3(btScalar(-0.000000) , btScalar(1.000000),btScalar(-0.000000)),
btVector3(btScalar(0.587786) , btScalar(0.809017),btScalar(-0.000000)),
btVector3(btScalar(0.688190) , btScalar(-0.499997),btScalar(0.525736)),
btVector3(btScalar(-0.262869) , btScalar(-0.809012),btScalar(0.525738)),
btVector3(btScalar(-0.850648) , btScalar(0.000000),btScalar(0.525736)),
btVector3(btScalar(-0.262869) , btScalar(0.809012),btScalar(0.525738)),
btVector3(btScalar(0.688190) , btScalar(0.499997),btScalar(0.525736)),
btVector3(btScalar(0.525730) , btScalar(0.000000),btScalar(0.850652)),
btVector3(btScalar(0.162456) , btScalar(-0.499995),btScalar(0.850654)),
btVector3(btScalar(-0.425323) , btScalar(-0.309011),btScalar(0.850654)),
btVector3(btScalar(-0.425323) , btScalar(0.309011),btScalar(0.850654)),
btVector3(btScalar(0.162456) , btScalar(0.499995),btScalar(0.850654))
};
btShapeHull::btShapeHull (const btConvexShape* shape) btShapeHull::btShapeHull (const btConvexShape* shape)
{ {
m_shape = shape; m_shape = shape;
@@ -93,7 +47,7 @@ btShapeHull::buildHull (btScalar /*margin*/)
{ {
btVector3 norm; btVector3 norm;
m_shape->getPreferredPenetrationDirection(i,norm); m_shape->getPreferredPenetrationDirection(i,norm);
btUnitSpherePoints[numSampleDirections] = norm; getUnitSpherePoints()[numSampleDirections] = norm;
numSampleDirections++; numSampleDirections++;
} }
} }
@@ -103,7 +57,7 @@ btShapeHull::buildHull (btScalar /*margin*/)
int i; int i;
for (i = 0; i < numSampleDirections; i++) for (i = 0; i < numSampleDirections; i++)
{ {
supportPoints[i] = m_shape->localGetSupportingVertex(btUnitSpherePoints[i]); getUnitSpherePoints()[i] = m_shape->localGetSupportingVertex(getUnitSpherePoints()[i]);
} }
HullDesc hd; HullDesc hd;
@@ -163,3 +117,54 @@ btShapeHull::numIndices () const
return static_cast<int>(m_numIndices); return static_cast<int>(m_numIndices);
} }
btVector3* btShapeHull::getUnitSpherePoints()
{
static btVector3 sUnitSpherePoints[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2] =
{
btVector3(btScalar(0.000000) , btScalar(-0.000000),btScalar(-1.000000)),
btVector3(btScalar(0.723608) , btScalar(-0.525725),btScalar(-0.447219)),
btVector3(btScalar(-0.276388) , btScalar(-0.850649),btScalar(-0.447219)),
btVector3(btScalar(-0.894426) , btScalar(-0.000000),btScalar(-0.447216)),
btVector3(btScalar(-0.276388) , btScalar(0.850649),btScalar(-0.447220)),
btVector3(btScalar(0.723608) , btScalar(0.525725),btScalar(-0.447219)),
btVector3(btScalar(0.276388) , btScalar(-0.850649),btScalar(0.447220)),
btVector3(btScalar(-0.723608) , btScalar(-0.525725),btScalar(0.447219)),
btVector3(btScalar(-0.723608) , btScalar(0.525725),btScalar(0.447219)),
btVector3(btScalar(0.276388) , btScalar(0.850649),btScalar(0.447219)),
btVector3(btScalar(0.894426) , btScalar(0.000000),btScalar(0.447216)),
btVector3(btScalar(-0.000000) , btScalar(0.000000),btScalar(1.000000)),
btVector3(btScalar(0.425323) , btScalar(-0.309011),btScalar(-0.850654)),
btVector3(btScalar(-0.162456) , btScalar(-0.499995),btScalar(-0.850654)),
btVector3(btScalar(0.262869) , btScalar(-0.809012),btScalar(-0.525738)),
btVector3(btScalar(0.425323) , btScalar(0.309011),btScalar(-0.850654)),
btVector3(btScalar(0.850648) , btScalar(-0.000000),btScalar(-0.525736)),
btVector3(btScalar(-0.525730) , btScalar(-0.000000),btScalar(-0.850652)),
btVector3(btScalar(-0.688190) , btScalar(-0.499997),btScalar(-0.525736)),
btVector3(btScalar(-0.162456) , btScalar(0.499995),btScalar(-0.850654)),
btVector3(btScalar(-0.688190) , btScalar(0.499997),btScalar(-0.525736)),
btVector3(btScalar(0.262869) , btScalar(0.809012),btScalar(-0.525738)),
btVector3(btScalar(0.951058) , btScalar(0.309013),btScalar(0.000000)),
btVector3(btScalar(0.951058) , btScalar(-0.309013),btScalar(0.000000)),
btVector3(btScalar(0.587786) , btScalar(-0.809017),btScalar(0.000000)),
btVector3(btScalar(0.000000) , btScalar(-1.000000),btScalar(0.000000)),
btVector3(btScalar(-0.587786) , btScalar(-0.809017),btScalar(0.000000)),
btVector3(btScalar(-0.951058) , btScalar(-0.309013),btScalar(-0.000000)),
btVector3(btScalar(-0.951058) , btScalar(0.309013),btScalar(-0.000000)),
btVector3(btScalar(-0.587786) , btScalar(0.809017),btScalar(-0.000000)),
btVector3(btScalar(-0.000000) , btScalar(1.000000),btScalar(-0.000000)),
btVector3(btScalar(0.587786) , btScalar(0.809017),btScalar(-0.000000)),
btVector3(btScalar(0.688190) , btScalar(-0.499997),btScalar(0.525736)),
btVector3(btScalar(-0.262869) , btScalar(-0.809012),btScalar(0.525738)),
btVector3(btScalar(-0.850648) , btScalar(0.000000),btScalar(0.525736)),
btVector3(btScalar(-0.262869) , btScalar(0.809012),btScalar(0.525738)),
btVector3(btScalar(0.688190) , btScalar(0.499997),btScalar(0.525736)),
btVector3(btScalar(0.525730) , btScalar(0.000000),btScalar(0.850652)),
btVector3(btScalar(0.162456) , btScalar(-0.499995),btScalar(0.850654)),
btVector3(btScalar(-0.425323) , btScalar(-0.309011),btScalar(0.850654)),
btVector3(btScalar(-0.425323) , btScalar(0.309011),btScalar(0.850654)),
btVector3(btScalar(0.162456) , btScalar(0.499995),btScalar(0.850654))
};
return sUnitSpherePoints;
}

15
src/BulletCollision/CollisionShapes/btShapeHull.h
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@@ -27,6 +27,15 @@ subject to the following restrictions:
///It approximates the convex hull using the supporting vertex of 42 directions. ///It approximates the convex hull using the supporting vertex of 42 directions.
class btShapeHull class btShapeHull
{ {
protected:
btAlignedObjectArray<btVector3> m_vertices;
btAlignedObjectArray<unsigned int> m_indices;
unsigned int m_numIndices;
const btConvexShape* m_shape;
static btVector3* getUnitSpherePoints();
public: public:
btShapeHull (const btConvexShape* shape); btShapeHull (const btConvexShape* shape);
~btShapeHull (); ~btShapeHull ();
@@ -45,12 +54,6 @@ public:
{ {
return &m_indices[0]; return &m_indices[0];
} }
protected:
btAlignedObjectArray<btVector3> m_vertices;
btAlignedObjectArray<unsigned int> m_indices;
unsigned int m_numIndices;
const btConvexShape* m_shape;
}; };
#endif //_SHAPE_HULL_H #endif //_SHAPE_HULL_H

109
src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp
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@@ -20,51 +20,6 @@ subject to the following restrictions:
#include "BulletCollision/CollisionShapes/btConvexShape.h" #include "BulletCollision/CollisionShapes/btConvexShape.h"
#define NUM_UNITSPHERE_POINTS 42 #define NUM_UNITSPHERE_POINTS 42
static btVector3 sPenetrationDirections[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2] =
{
btVector3(btScalar(0.000000) , btScalar(-0.000000),btScalar(-1.000000)),
btVector3(btScalar(0.723608) , btScalar(-0.525725),btScalar(-0.447219)),
btVector3(btScalar(-0.276388) , btScalar(-0.850649),btScalar(-0.447219)),
btVector3(btScalar(-0.894426) , btScalar(-0.000000),btScalar(-0.447216)),
btVector3(btScalar(-0.276388) , btScalar(0.850649),btScalar(-0.447220)),
btVector3(btScalar(0.723608) , btScalar(0.525725),btScalar(-0.447219)),
btVector3(btScalar(0.276388) , btScalar(-0.850649),btScalar(0.447220)),
btVector3(btScalar(-0.723608) , btScalar(-0.525725),btScalar(0.447219)),
btVector3(btScalar(-0.723608) , btScalar(0.525725),btScalar(0.447219)),
btVector3(btScalar(0.276388) , btScalar(0.850649),btScalar(0.447219)),
btVector3(btScalar(0.894426) , btScalar(0.000000),btScalar(0.447216)),
btVector3(btScalar(-0.000000) , btScalar(0.000000),btScalar(1.000000)),
btVector3(btScalar(0.425323) , btScalar(-0.309011),btScalar(-0.850654)),
btVector3(btScalar(-0.162456) , btScalar(-0.499995),btScalar(-0.850654)),
btVector3(btScalar(0.262869) , btScalar(-0.809012),btScalar(-0.525738)),
btVector3(btScalar(0.425323) , btScalar(0.309011),btScalar(-0.850654)),
btVector3(btScalar(0.850648) , btScalar(-0.000000),btScalar(-0.525736)),
btVector3(btScalar(-0.525730) , btScalar(-0.000000),btScalar(-0.850652)),
btVector3(btScalar(-0.688190) , btScalar(-0.499997),btScalar(-0.525736)),
btVector3(btScalar(-0.162456) , btScalar(0.499995),btScalar(-0.850654)),
btVector3(btScalar(-0.688190) , btScalar(0.499997),btScalar(-0.525736)),
btVector3(btScalar(0.262869) , btScalar(0.809012),btScalar(-0.525738)),
btVector3(btScalar(0.951058) , btScalar(0.309013),btScalar(0.000000)),
btVector3(btScalar(0.951058) , btScalar(-0.309013),btScalar(0.000000)),
btVector3(btScalar(0.587786) , btScalar(-0.809017),btScalar(0.000000)),
btVector3(btScalar(0.000000) , btScalar(-1.000000),btScalar(0.000000)),
btVector3(btScalar(-0.587786) , btScalar(-0.809017),btScalar(0.000000)),
btVector3(btScalar(-0.951058) , btScalar(-0.309013),btScalar(-0.000000)),
btVector3(btScalar(-0.951058) , btScalar(0.309013),btScalar(-0.000000)),
btVector3(btScalar(-0.587786) , btScalar(0.809017),btScalar(-0.000000)),
btVector3(btScalar(-0.000000) , btScalar(1.000000),btScalar(-0.000000)),
btVector3(btScalar(0.587786) , btScalar(0.809017),btScalar(-0.000000)),
btVector3(btScalar(0.688190) , btScalar(-0.499997),btScalar(0.525736)),
btVector3(btScalar(-0.262869) , btScalar(-0.809012),btScalar(0.525738)),
btVector3(btScalar(-0.850648) , btScalar(0.000000),btScalar(0.525736)),
btVector3(btScalar(-0.262869) , btScalar(0.809012),btScalar(0.525738)),
btVector3(btScalar(0.688190) , btScalar(0.499997),btScalar(0.525736)),
btVector3(btScalar(0.525730) , btScalar(0.000000),btScalar(0.850652)),
btVector3(btScalar(0.162456) , btScalar(-0.499995),btScalar(0.850654)),
btVector3(btScalar(-0.425323) , btScalar(-0.309011),btScalar(0.850654)),
btVector3(btScalar(-0.425323) , btScalar(0.309011),btScalar(0.850654)),
btVector3(btScalar(0.162456) , btScalar(0.499995),btScalar(0.850654))
};
bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& simplexSolver, bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& simplexSolver,
@@ -133,7 +88,7 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s
for (i=0;i<numSampleDirections;i++) for (i=0;i<numSampleDirections;i++)
{ {
btVector3 norm = sPenetrationDirections[i]; btVector3 norm = getPenetrationDirections()[i];
seperatingAxisInABatch[i] = (-norm) * transA.getBasis() ; seperatingAxisInABatch[i] = (-norm) * transA.getBasis() ;
seperatingAxisInBBatch[i] = norm * transB.getBasis() ; seperatingAxisInBBatch[i] = norm * transB.getBasis() ;
} }
@@ -147,7 +102,7 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s
btVector3 norm; btVector3 norm;
convexA->getPreferredPenetrationDirection(i,norm); convexA->getPreferredPenetrationDirection(i,norm);
norm = transA.getBasis() * norm; norm = transA.getBasis() * norm;
sPenetrationDirections[numSampleDirections] = norm; getPenetrationDirections()[numSampleDirections] = norm;
seperatingAxisInABatch[numSampleDirections] = (-norm) * transA.getBasis(); seperatingAxisInABatch[numSampleDirections] = (-norm) * transA.getBasis();
seperatingAxisInBBatch[numSampleDirections] = norm * transB.getBasis(); seperatingAxisInBBatch[numSampleDirections] = norm * transB.getBasis();
numSampleDirections++; numSampleDirections++;
@@ -164,7 +119,7 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s
btVector3 norm; btVector3 norm;
convexB->getPreferredPenetrationDirection(i,norm); convexB->getPreferredPenetrationDirection(i,norm);
norm = transB.getBasis() * norm; norm = transB.getBasis() * norm;
sPenetrationDirections[numSampleDirections] = norm; getPenetrationDirections()[numSampleDirections] = norm;
seperatingAxisInABatch[numSampleDirections] = (-norm) * transA.getBasis(); seperatingAxisInABatch[numSampleDirections] = (-norm) * transA.getBasis();
seperatingAxisInBBatch[numSampleDirections] = norm * transB.getBasis(); seperatingAxisInBBatch[numSampleDirections] = norm * transB.getBasis();
numSampleDirections++; numSampleDirections++;
@@ -180,7 +135,7 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s
for (i=0;i<numSampleDirections;i++) for (i=0;i<numSampleDirections;i++)
{ {
btVector3 norm = sPenetrationDirections[i]; btVector3 norm = getPenetrationDirections()[i];
if (check2d) if (check2d)
{ {
norm[2] = 0.f; norm[2] = 0.f;
@@ -228,7 +183,7 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s
btVector3 norm; btVector3 norm;
convexA->getPreferredPenetrationDirection(i,norm); convexA->getPreferredPenetrationDirection(i,norm);
norm = transA.getBasis() * norm; norm = transA.getBasis() * norm;
sPenetrationDirections[numSampleDirections] = norm; getPenetrationDirections()[numSampleDirections] = norm;
numSampleDirections++; numSampleDirections++;
} }
} }
@@ -243,7 +198,7 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s
btVector3 norm; btVector3 norm;
convexB->getPreferredPenetrationDirection(i,norm); convexB->getPreferredPenetrationDirection(i,norm);
norm = transB.getBasis() * norm; norm = transB.getBasis() * norm;
sPenetrationDirections[numSampleDirections] = norm; getPenetrationDirections()[numSampleDirections] = norm;
numSampleDirections++; numSampleDirections++;
} }
} }
@@ -252,7 +207,7 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s
for (int i=0;i<numSampleDirections;i++) for (int i=0;i<numSampleDirections;i++)
{ {
const btVector3& norm = sPenetrationDirections[i]; const btVector3& norm = getPenetrationDirections()[i];
seperatingAxisInA = (-norm)* transA.getBasis(); seperatingAxisInA = (-norm)* transA.getBasis();
seperatingAxisInB = norm* transB.getBasis(); seperatingAxisInB = norm* transB.getBasis();
pInA = convexA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA); pInA = convexA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA);
@@ -353,5 +308,55 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s
return res.m_hasResult; return res.m_hasResult;
} }
btVector3* btMinkowskiPenetrationDepthSolver::getPenetrationDirections()
{
static btVector3 sPenetrationDirections[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2] =
{
btVector3(btScalar(0.000000) , btScalar(-0.000000),btScalar(-1.000000)),
btVector3(btScalar(0.723608) , btScalar(-0.525725),btScalar(-0.447219)),
btVector3(btScalar(-0.276388) , btScalar(-0.850649),btScalar(-0.447219)),
btVector3(btScalar(-0.894426) , btScalar(-0.000000),btScalar(-0.447216)),
btVector3(btScalar(-0.276388) , btScalar(0.850649),btScalar(-0.447220)),
btVector3(btScalar(0.723608) , btScalar(0.525725),btScalar(-0.447219)),
btVector3(btScalar(0.276388) , btScalar(-0.850649),btScalar(0.447220)),
btVector3(btScalar(-0.723608) , btScalar(-0.525725),btScalar(0.447219)),
btVector3(btScalar(-0.723608) , btScalar(0.525725),btScalar(0.447219)),
btVector3(btScalar(0.276388) , btScalar(0.850649),btScalar(0.447219)),
btVector3(btScalar(0.894426) , btScalar(0.000000),btScalar(0.447216)),
btVector3(btScalar(-0.000000) , btScalar(0.000000),btScalar(1.000000)),
btVector3(btScalar(0.425323) , btScalar(-0.309011),btScalar(-0.850654)),
btVector3(btScalar(-0.162456) , btScalar(-0.499995),btScalar(-0.850654)),
btVector3(btScalar(0.262869) , btScalar(-0.809012),btScalar(-0.525738)),
btVector3(btScalar(0.425323) , btScalar(0.309011),btScalar(-0.850654)),
btVector3(btScalar(0.850648) , btScalar(-0.000000),btScalar(-0.525736)),
btVector3(btScalar(-0.525730) , btScalar(-0.000000),btScalar(-0.850652)),
btVector3(btScalar(-0.688190) , btScalar(-0.499997),btScalar(-0.525736)),
btVector3(btScalar(-0.162456) , btScalar(0.499995),btScalar(-0.850654)),
btVector3(btScalar(-0.688190) , btScalar(0.499997),btScalar(-0.525736)),
btVector3(btScalar(0.262869) , btScalar(0.809012),btScalar(-0.525738)),
btVector3(btScalar(0.951058) , btScalar(0.309013),btScalar(0.000000)),
btVector3(btScalar(0.951058) , btScalar(-0.309013),btScalar(0.000000)),
btVector3(btScalar(0.587786) , btScalar(-0.809017),btScalar(0.000000)),
btVector3(btScalar(0.000000) , btScalar(-1.000000),btScalar(0.000000)),
btVector3(btScalar(-0.587786) , btScalar(-0.809017),btScalar(0.000000)),
btVector3(btScalar(-0.951058) , btScalar(-0.309013),btScalar(-0.000000)),
btVector3(btScalar(-0.951058) , btScalar(0.309013),btScalar(-0.000000)),
btVector3(btScalar(-0.587786) , btScalar(0.809017),btScalar(-0.000000)),
btVector3(btScalar(-0.000000) , btScalar(1.000000),btScalar(-0.000000)),
btVector3(btScalar(0.587786) , btScalar(0.809017),btScalar(-0.000000)),
btVector3(btScalar(0.688190) , btScalar(-0.499997),btScalar(0.525736)),
btVector3(btScalar(-0.262869) , btScalar(-0.809012),btScalar(0.525738)),
btVector3(btScalar(-0.850648) , btScalar(0.000000),btScalar(0.525736)),
btVector3(btScalar(-0.262869) , btScalar(0.809012),btScalar(0.525738)),
btVector3(btScalar(0.688190) , btScalar(0.499997),btScalar(0.525736)),
btVector3(btScalar(0.525730) , btScalar(0.000000),btScalar(0.850652)),
btVector3(btScalar(0.162456) , btScalar(-0.499995),btScalar(0.850654)),
btVector3(btScalar(-0.425323) , btScalar(-0.309011),btScalar(0.850654)),
btVector3(btScalar(-0.425323) , btScalar(0.309011),btScalar(0.850654)),
btVector3(btScalar(0.162456) , btScalar(0.499995),btScalar(0.850654))
};
return sPenetrationDirections;
}

4
src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h
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@@ -22,6 +22,10 @@ subject to the following restrictions:
///Implementation is based on sampling the depth using support mapping, and using GJK step to get the witness points. ///Implementation is based on sampling the depth using support mapping, and using GJK step to get the witness points.
class btMinkowskiPenetrationDepthSolver : public btConvexPenetrationDepthSolver class btMinkowskiPenetrationDepthSolver : public btConvexPenetrationDepthSolver
{ {
protected:
static btVector3* getPenetrationDirections();
public: public:
virtual bool calcPenDepth( btSimplexSolverInterface& simplexSolver, virtual bool calcPenDepth( btSimplexSolverInterface& simplexSolver,

18
src/BulletDynamics/Character/btKinematicCharacterController.cpp
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@@ -23,8 +23,6 @@ subject to the following restrictions:
#include "LinearMath/btDefaultMotionState.h" #include "LinearMath/btDefaultMotionState.h"
#include "btKinematicCharacterController.h" #include "btKinematicCharacterController.h"
static btVector3 upAxisDirection[3] = { btVector3(1.0f, 0.0f, 0.0f), btVector3(0.0f, 1.0f, 0.0f), btVector3(0.0f, 0.0f, 1.0f) };
// static helper method // static helper method
static btVector3 static btVector3
@@ -189,13 +187,13 @@ void btKinematicCharacterController::stepUp ( btCollisionWorld* world)
{ {
// phase 1: up // phase 1: up
btTransform start, end; btTransform start, end;
m_targetPosition = m_currentPosition + upAxisDirection[m_upAxis] * m_stepHeight; m_targetPosition = m_currentPosition + getUpAxisDirections()[m_upAxis] * m_stepHeight;
start.setIdentity (); start.setIdentity ();
end.setIdentity (); end.setIdentity ();
/* FIXME: Handle penetration properly */ /* FIXME: Handle penetration properly */
start.setOrigin (m_currentPosition + upAxisDirection[m_upAxis] * btScalar(0.1f)); start.setOrigin (m_currentPosition + getUpAxisDirections()[m_upAxis] * btScalar(0.1f));
end.setOrigin (m_targetPosition); end.setOrigin (m_targetPosition);
btKinematicClosestNotMeConvexResultCallback callback (m_ghostObject); btKinematicClosestNotMeConvexResultCallback callback (m_ghostObject);
@@ -355,8 +353,8 @@ void btKinematicCharacterController::stepDown ( btCollisionWorld* collisionWorld
btTransform start, end; btTransform start, end;
// phase 3: down // phase 3: down
btVector3 step_drop = upAxisDirection[m_upAxis] * m_currentStepOffset; btVector3 step_drop = getUpAxisDirections()[m_upAxis] * m_currentStepOffset;
btVector3 gravity_drop = upAxisDirection[m_upAxis] * m_stepHeight; btVector3 gravity_drop = getUpAxisDirections()[m_upAxis] * m_stepHeight;
m_targetPosition -= (step_drop + gravity_drop); m_targetPosition -= (step_drop + gravity_drop);
start.setIdentity (); start.setIdentity ();
@@ -545,3 +543,11 @@ bool btKinematicCharacterController::onGround () const
void btKinematicCharacterController::debugDraw(btIDebugDraw* debugDrawer) void btKinematicCharacterController::debugDraw(btIDebugDraw* debugDrawer)
{ {
} }
btVector3* btKinematicCharacterController::getUpAxisDirections()
{
static btVector3 sUpAxisDirection[3] = { btVector3(1.0f, 0.0f, 0.0f), btVector3(0.0f, 1.0f, 0.0f), btVector3(0.0f, 0.0f, 1.0f) };
return sUpAxisDirection;
}

5
src/BulletDynamics/Character/btKinematicCharacterController.h
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@@ -35,6 +35,7 @@ class btPairCachingGhostObject;
class btKinematicCharacterController : public btCharacterControllerInterface class btKinematicCharacterController : public btCharacterControllerInterface
{ {
protected: protected:
btScalar m_halfHeight; btScalar m_halfHeight;
btPairCachingGhostObject* m_ghostObject; btPairCachingGhostObject* m_ghostObject;
@@ -69,7 +70,9 @@ protected:
bool m_useWalkDirection; bool m_useWalkDirection;
btScalar m_velocityTimeInterval; btScalar m_velocityTimeInterval;
int m_upAxis; int m_upAxis;
static btVector3* getUpAxisDirections();
btVector3 computeReflectionDirection (const btVector3& direction, const btVector3& normal); btVector3 computeReflectionDirection (const btVector3& direction, const btVector3& normal);
btVector3 parallelComponent (const btVector3& direction, const btVector3& normal); btVector3 parallelComponent (const btVector3& direction, const btVector3& normal);
btVector3 perpindicularComponent (const btVector3& direction, const btVector3& normal); btVector3 perpindicularComponent (const btVector3& direction, const btVector3& normal);

12
src/BulletDynamics/Dynamics/btActionInterface.h
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@@ -20,11 +20,21 @@ class btIDebugDraw;
class btCollisionWorld; class btCollisionWorld;
#include "LinearMath/btScalar.h" #include "LinearMath/btScalar.h"
#include "btRigidBody.h"
///Basic interface to allow actions such as vehicles and characters to be updated inside a btDynamicsWorld ///Basic interface to allow actions such as vehicles and characters to be updated inside a btDynamicsWorld
class btActionInterface class btActionInterface
{ {
public: protected:
static btRigidBody& getFixedBody()
{
static btRigidBody s_fixed(0, 0,0);
s_fixed.setMassProps(btScalar(0.),btVector3(btScalar(0.),btScalar(0.),btScalar(0.)));
return s_fixed;
}
public:
virtual ~btActionInterface() virtual ~btActionInterface()
{ {

4
src/BulletDynamics/Vehicle/btRaycastVehicle.cpp
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@@ -22,7 +22,7 @@
#include "LinearMath/btIDebugDraw.h" #include "LinearMath/btIDebugDraw.h"
#include "BulletDynamics/ConstraintSolver/btContactConstraint.h" #include "BulletDynamics/ConstraintSolver/btContactConstraint.h"
static btRigidBody s_fixedObject( 0,0,0);
btRaycastVehicle::btRaycastVehicle(const btVehicleTuning& tuning,btRigidBody* chassis, btVehicleRaycaster* raycaster ) btRaycastVehicle::btRaycastVehicle(const btVehicleTuning& tuning,btRigidBody* chassis, btVehicleRaycaster* raycaster )
:m_vehicleRaycaster(raycaster), :m_vehicleRaycaster(raycaster),
@@ -187,7 +187,7 @@ btScalar btRaycastVehicle::rayCast(btWheelInfo& wheel)
wheel.m_raycastInfo.m_contactNormalWS = rayResults.m_hitNormalInWorld; wheel.m_raycastInfo.m_contactNormalWS = rayResults.m_hitNormalInWorld;
wheel.m_raycastInfo.m_isInContact = true; wheel.m_raycastInfo.m_isInContact = true;
wheel.m_raycastInfo.m_groundObject = &s_fixedObject;///@todo for driving on dynamic/movable objects!; wheel.m_raycastInfo.m_groundObject = &getFixedBody();///@todo for driving on dynamic/movable objects!;
//wheel.m_raycastInfo.m_groundObject = object; //wheel.m_raycastInfo.m_groundObject = object;