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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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31
Demos/OpenGL/GLDebugDrawer.cpp
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@@ -39,7 +39,34 @@ void GLDebugDrawer::drawSphere (const btVector3& p, btScalar radius, const btVec
glColor4f (color.getX(), color.getY(), color.getZ(), btScalar(1.0f));
glPushMatrix ();
glTranslatef (p.getX(), p.getY(), p.getZ());
// glutSolidSphere (radius, 10, 10);
int lats = 5;
int longs = 5;
int i, j;
for(i = 0; i <= lats; i++) {
btScalar lat0 = SIMD_PI * (-btScalar(0.5) + (btScalar) (i - 1) / lats);
btScalar z0 = radius*sin(lat0);
btScalar zr0 = radius*cos(lat0);
btScalar lat1 = SIMD_PI * (-btScalar(0.5) + (btScalar) i / lats);
btScalar z1 = radius*sin(lat1);
btScalar zr1 = radius*cos(lat1);
glBegin(GL_QUAD_STRIP);
for(j = 0; j <= longs; j++) {
btScalar lng = 2 * SIMD_PI * (btScalar) (j - 1) / longs;
btScalar x = cos(lng);
btScalar y = sin(lng);
glNormal3f(x * zr0, y * zr0, z0);
glVertex3f(x * zr0, y * zr0, z0);
glNormal3f(x * zr1, y * zr1, z1);
glVertex3f(x * zr1, y * zr1, z1);
}
glEnd();
}
glPopMatrix();
}
@@ -62,7 +89,7 @@ void GLDebugDrawer::drawTriangle(const btVector3& a,const btVector3& b,const btV
{
// if (m_debugMode > 0)
{
const btVector3 n=cross(b-a,c-a).normalized();
const btVector3 n=btCross(b-a,c-a).normalized();
glBegin(GL_TRIANGLES);
glColor4f(color.getX(), color.getY(), color.getZ(),alpha);
glNormal3d(n.getX(),n.getY(),n.getZ());