updated EPA,

updated user manual (work in progress)

Demos/OpenGL/DemoApplication.cpp

@@ -193,11 +193,15 @@ void DemoApplication::stepBack()
 }
 void DemoApplication::zoomIn() 
 { 
-	m_cameraDistance -= 1; updateCamera(); 
+	m_cameraDistance -= 0.4; updateCamera(); 
+	if (m_cameraDistance < 0.1)
+		m_cameraDistance = 0.1;
+
 }
 void DemoApplication::zoomOut() 
 { 
-	m_cameraDistance += 1; updateCamera(); 
+	m_cameraDistance += 0.4; updateCamera(); 
+	
 }
 
 

src/BulletCollision/CollisionShapes/btConeShape.cpp

@@ -16,50 +16,71 @@ subject to the following restrictions:
 #include "btConeShape.h"
 #include "LinearMath/btPoint3.h"
 
-#ifdef WIN32
+
-static int coneindices[3] = {1,2,0};
-#else
-static int coneindices[3] = {2,1,0};
-#endif
 
 btConeShape::btConeShape (btScalar radius,btScalar height):
 m_radius (radius),
 m_height(height)
 {
+	setConeUpIndex(1);
 	btVector3 halfExtents;
 	m_sinAngle = (m_radius / sqrt(m_radius * m_radius + m_height * m_height));
 }
 
+///choose upAxis index
+void	btConeShape::setConeUpIndex(int upIndex)
+{
+	switch (upIndex)
+	{
+	case 0:
+			m_coneIndices[0] = 1;
+			m_coneIndices[1] = 0;
+			m_coneIndices[2] = 2;
+		break;
+	case 1:
+			m_coneIndices[0] = 0;
+			m_coneIndices[1] = 1;
+			m_coneIndices[2] = 2;
+		break;
+	case 2:
+			m_coneIndices[0] = 0;
+			m_coneIndices[1] = 2;
+			m_coneIndices[2] = 1;
+		break;
+	default:
+		assert(0);
+	};
+}
 
 btVector3 btConeShape::coneLocalSupport(const btVector3& v) const
 {
 	
 	float halfHeight = m_height * 0.5f;
 
- if (v[coneindices[1]] > v.length() * m_sinAngle)
+ if (v[m_coneIndices[1]] > v.length() * m_sinAngle)
  {
 	btVector3 tmp;
 
-	tmp[coneindices[0]] = 0.f;
+	tmp[m_coneIndices[0]] = 0.f;
-	tmp[coneindices[1]] = halfHeight;
+	tmp[m_coneIndices[1]] = halfHeight;
-	tmp[coneindices[2]] = 0.f;
+	tmp[m_coneIndices[2]] = 0.f;
 	return tmp;
  }
   else {
-    btScalar s = btSqrt(v[coneindices[0]] * v[coneindices[0]] + v[coneindices[2]] * v[coneindices[2]]);
+    btScalar s = btSqrt(v[m_coneIndices[0]] * v[m_coneIndices[0]] + v[m_coneIndices[2]] * v[m_coneIndices[2]]);
     if (s > SIMD_EPSILON) {
       btScalar d = m_radius / s;
 	  btVector3 tmp;
-	  tmp[coneindices[0]] = v[coneindices[0]] * d;
+	  tmp[m_coneIndices[0]] = v[m_coneIndices[0]] * d;
-	  tmp[coneindices[1]] = -halfHeight;
+	  tmp[m_coneIndices[1]] = -halfHeight;
-	  tmp[coneindices[2]] = v[coneindices[2]] * d;
+	  tmp[m_coneIndices[2]] = v[m_coneIndices[2]] * d;
 	  return tmp;
     }
     else  {
 		btVector3 tmp;
-		tmp[coneindices[0]] = 0.f;
+		tmp[m_coneIndices[0]] = 0.f;
-		tmp[coneindices[1]] = -halfHeight;
+		tmp[m_coneIndices[1]] = -halfHeight;
-		tmp[coneindices[2]] = 0.f;
+		tmp[m_coneIndices[2]] = 0.f;
 		return tmp;
 	}
   }

src/BulletCollision/CollisionShapes/btConeShape.h

@@ -19,7 +19,7 @@ subject to the following restrictions:
 #include "btConvexShape.h"
 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
 
-/// implements cone shape interface
+///btConeShape implements a Cone shape, around the Y axis
 class btConeShape : public btConvexShape
 
 {
@@ -27,7 +27,7 @@ class btConeShape : public btConvexShape
 	float m_sinAngle;
 	float m_radius;
 	float m_height;
-	
+	int		m_coneIndices[3];
 	btVector3 coneLocalSupport(const btVector3& v) const;
 
 
@@ -76,8 +76,28 @@ public:
 		{
 			return "Cone";
 		}
+		
+		///choose upAxis index
+		void	setConeUpIndex(int upIndex);
+		
+		int	getConeUpIndex() const
+		{
+			return m_coneIndices[1];
+		}
 };
 
+///btConeShape implements a Cone shape, around the X axis
+class btConeShapeX : public btConeShape
+{
+	public:
+		btConeShapeX(btScalar radius,btScalar height);
+};
 
+///btConeShapeZ implements a Cone shape, around the Z axis
+class btConeShapeZ : public btConeShape
+{
+	public:
+		btConeShapeZ(btScalar radius,btScalar height);
+};
 #endif //CONE_MINKOWSKI_H
 

src/BulletCollision/NarrowPhaseCollision/btGjkEpa.h

@@ -38,6 +38,8 @@ struct	sResults
 	btVector3	witnesses[2];
 	btVector3	normal;
 	btScalar	depth;
+	int	epa_iterations;
+	int	gjk_iterations;
 	};
 static bool	Collide(btConvexShape* shape0,const btTransform& wtrs0,
 					btConvexShape* shape1,const btTransform& wtrs1,