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+ CMake build system fix under Windows: don't define _WINDOWS to allow Glut console demo to build properly

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+ Allow user to enable useConvexConservativeDistanceUtil . Use dynamicsWorld->getDispatchInfo().m_useConvexConservativeDistanceUtil = true;
(see Demos/Benchmarks/Benchmark4 (convex objects falling down)
+ Fix for plane drawing (just wire-frame)
+ Gimpact: use collision margin of 0.07 for demo (because BULLET_TRIANGLE_COLLISION is used)
+ replace dot,cross,distance,angle,triple in btVector3 by btDot, btCross,btDistance,btAngle,btDistance to avoid naming conflicts
+ Some fixes in GJK penetration depth normal direction (broken in a previous commit)
+ fix in calculateDiffAxisAngleQuaternion to make ConvexConservativeDistanceUtil work properly
+ allow debug drawing to debug btContinuousConvexCollision
+ add comment/warning that btTriangleMesh::findOrAddVertex is an internal method, users should use addTriangle instead
This commit is contained in:
erwin.coumans
2009-07-15 16:47:48 +00:00
parent a27b349dd0
commit 40c73f327c
35 changed files with 343 additions and 222 deletions
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25
Demos/Gpu3dDemo/BasicDemo3d.cpp
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@@ -25,15 +25,15 @@ subject to the following restrictions:
#include "BulletMultiThreaded/SpuGatheringCollisionDispatcher.h"
#include "BulletMultiThreaded/Win32ThreadSupport.h"
#include "GLDebugFont.h"
//@ extern int gSkippedCol;
//@ extern int gProcessedCol;
extern int gSkippedCol;
extern int gProcessedCol;
#define SPEC_TEST 0
#ifdef _DEBUG
#define LARGE_DEMO 0
#define LARGE_DEMO 1
// #define LARGE_DEMO 1
#else
#define LARGE_DEMO 1
@@ -192,6 +192,8 @@ void BasicDemo3D::initPhysics()
btDefaultCollisionConstructionInfo dci;
dci.m_defaultMaxPersistentManifoldPoolSize=100000;
dci.m_defaultMaxCollisionAlgorithmPoolSize=100000;
dci.m_customCollisionAlgorithmMaxElementSize = sizeof(SpuContactManifoldCollisionAlgorithm);
///SpuContactManifoldCollisionAlgorithm is larger than any of the other collision algorithms
//@@ dci.m_customMaxCollisionAlgorithmSize = sizeof(SpuContactManifoldCollisionAlgorithm);
@@ -243,13 +245,18 @@ btCudaBroadphase::btCudaBroadphase( btOverlappingPairCache* overlappingPairCache
#ifdef USE_CUDA_BROADPHASE
m_broadphase = new btCudaBroadphase(gPairCache, gWorldMin, gWorldMax,numOfCellsX, numOfCellsY, numOfCellsZ,MAX_SMALL_PROXIES,20,18,8,1./1.5);
#else
#if DBVT
btDbvtBroadphase* dbvt = new btDbvtBroadphase(gPairCache);
m_broadphase = dbvt;
dbvt->m_deferedcollide=false;
dbvt->m_prediction = 0.f;
#else
m_broadphase = new btAxisSweep3(gWorldMin,gWorldMax,32000,gPairCache,true);//(btDbvtBroadphase(gPairCache);
#endif //DBVT
#endif
//m_broadphase = new btAxisSweep3(gWorldMin,gWorldMax,32000,0,true);//(btDbvtBroadphase(gPairCache);
// create solvers for tests
///the default constraint solver
@@ -808,7 +815,6 @@ void BasicDemo3D::outputDebugInfo(int & xOffset,int & yStart, int yIncr)
sprintf(buf,"# pairs = %d",getDynamicsWorld()->getBroadphase()->getOverlappingPairCache()->getNumOverlappingPairs());
GLDebugDrawString(xOffset,yStart,buf);
/*@@
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
@@ -822,12 +828,13 @@ void BasicDemo3D::outputDebugInfo(int & xOffset,int & yStart, int yIncr)
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"culled narrowphase collisions=%f",btScalar(gSkippedCol)/(gProcessedCol+gSkippedCol));
btScalar fract = (gProcessedCol+gSkippedCol)? btScalar(gSkippedCol)/(gProcessedCol+gSkippedCol) : 0.f;
sprintf(buf,"culled narrowphase collisions=%f",fract);
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
@@*/
gProcessedCol = 0;
gSkippedCol = 0;
}
} // BasicDemo3D::outputDebugInfo()