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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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42
src/BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp
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@@ -202,7 +202,7 @@ namespace gjkepa2_impl
lastw[clastw=(clastw+1)&3]=w;
}
/* Check for termination */
const btScalar omega=dot(m_ray,w)/rl;
const btScalar omega=btDot(m_ray,w)/rl;
alpha=btMax(omega,alpha);
if(((rl-alpha)-(GJK_ACCURARY*rl))<=0)
{/* Return old simplex */
@@ -288,7 +288,7 @@ namespace gjkepa2_impl
{
btVector3 axis=btVector3(0,0,0);
axis[i]=1;
const btVector3 p=cross(d,axis);
const btVector3 p=btCross(d,axis);
if(p.length2()>0)
{
appendvertice(*m_simplex, p);
@@ -303,7 +303,7 @@ namespace gjkepa2_impl
break;
case 3:
{
const btVector3 n=cross(m_simplex->c[1]->w-m_simplex->c[0]->w,
const btVector3 n=btCross(m_simplex->c[1]->w-m_simplex->c[0]->w,
m_simplex->c[2]->w-m_simplex->c[0]->w);
if(n.length2()>0)
{
@@ -357,7 +357,7 @@ namespace gjkepa2_impl
const btScalar l=d.length2();
if(l>GJK_SIMPLEX2_EPS)
{
const btScalar t(l>0?-dot(a,d)/l:0);
const btScalar t(l>0?-btDot(a,d)/l:0);
if(t>=1) { w[0]=0;w[1]=1;m=2;return(b.length2()); }
else if(t<=0) { w[0]=1;w[1]=0;m=1;return(a.length2()); }
else { w[0]=1-(w[1]=t);m=3;return((a+d*t).length2()); }
@@ -372,7 +372,7 @@ namespace gjkepa2_impl
static const U imd3[]={1,2,0};
const btVector3* vt[]={&a,&b,&c};
const btVector3 dl[]={a-b,b-c,c-a};
const btVector3 n=cross(dl[0],dl[1]);
const btVector3 n=btCross(dl[0],dl[1]);
const btScalar l=n.length2();
if(l>GJK_SIMPLEX3_EPS)
{
@@ -381,7 +381,7 @@ namespace gjkepa2_impl
U subm;
for(U i=0;i<3;++i)
{
if(dot(*vt[i],cross(dl[i],n))>0)
if(btDot(*vt[i],btCross(dl[i],n))>0)
{
const U j=imd3[i];
const btScalar subd(projectorigin(*vt[i],*vt[j],subw,subm));
@@ -397,13 +397,13 @@ namespace gjkepa2_impl
}
if(mindist<0)
{
const btScalar d=dot(a,n);
const btScalar d=btDot(a,n);
const btScalar s=btSqrt(l);
const btVector3 p=n*(d/l);
mindist = p.length2();
m = 7;
w[0] = (cross(dl[1],b-p)).length()/s;
w[1] = (cross(dl[2],c-p)).length()/s;
w[0] = (btCross(dl[1],b-p)).length()/s;
w[1] = (btCross(dl[2],c-p)).length()/s;
w[2] = 1-(w[0]+w[1]);
}
return(mindist);
@@ -420,7 +420,7 @@ namespace gjkepa2_impl
const btVector3* vt[]={&a,&b,&c,&d};
const btVector3 dl[]={a-d,b-d,c-d};
const btScalar vl=det(dl[0],dl[1],dl[2]);
const bool ng=(vl*dot(a,cross(b-c,a-b)))<=0;
const bool ng=(vl*btDot(a,btCross(b-c,a-b)))<=0;
if(ng&&(btFabs(vl)>GJK_SIMPLEX4_EPS))
{
btScalar mindist=-1;
@@ -429,7 +429,7 @@ namespace gjkepa2_impl
for(U i=0;i<3;++i)
{
const U j=imd3[i];
const btScalar s=vl*dot(d,cross(dl[i],dl[j]));
const btScalar s=vl*btDot(d,btCross(dl[i],dl[j]));
if(s>0)
{
const btScalar subd=projectorigin(*vt[i],*vt[j],d,subw,subm);
@@ -601,7 +601,7 @@ namespace gjkepa2_impl
bool valid=true;
best->pass = (U1)(++pass);
gjk.getsupport(best->n,*w);
const btScalar wdist=dot(best->n,w->w)-best->d;
const btScalar wdist=btDot(best->n,w->w)-best->d;
if(wdist>EPA_ACCURACY)
{
for(U j=0;(j<3)&&valid;++j)
@@ -628,11 +628,11 @@ namespace gjkepa2_impl
m_result.c[0] = outer.c[0];
m_result.c[1] = outer.c[1];
m_result.c[2] = outer.c[2];
m_result.p[0] = cross( outer.c[1]->w-projection,
m_result.p[0] = btCross( outer.c[1]->w-projection,
outer.c[2]->w-projection).length();
m_result.p[1] = cross( outer.c[2]->w-projection,
m_result.p[1] = btCross( outer.c[2]->w-projection,
outer.c[0]->w-projection).length();
m_result.p[2] = cross( outer.c[0]->w-projection,
m_result.p[2] = btCross( outer.c[0]->w-projection,
outer.c[1]->w-projection).length();
const btScalar sum=m_result.p[0]+m_result.p[1]+m_result.p[2];
m_result.p[0] /= sum;
@@ -666,18 +666,18 @@ namespace gjkepa2_impl
face->c[0] = a;
face->c[1] = b;
face->c[2] = c;
face->n = cross(b->w-a->w,c->w-a->w);
face->n = btCross(b->w-a->w,c->w-a->w);
const btScalar l=face->n.length();
const bool v=l>EPA_ACCURACY;
face->p = btMin(btMin(
dot(a->w,cross(face->n,a->w-b->w)),
dot(b->w,cross(face->n,b->w-c->w))),
dot(c->w,cross(face->n,c->w-a->w))) /
btDot(a->w,btCross(face->n,a->w-b->w)),
btDot(b->w,btCross(face->n,b->w-c->w))),
btDot(c->w,btCross(face->n,c->w-a->w))) /
(v?l:1);
face->p = face->p>=-EPA_INSIDE_EPS?0:face->p;
if(v)
{
face->d = dot(a->w,face->n)/l;
face->d = btDot(a->w,face->n)/l;
face->n /= l;
if(forced||(face->d>=-EPA_PLANE_EPS))
{
@@ -715,7 +715,7 @@ namespace gjkepa2_impl
if(f->pass!=pass)
{
const U e1=i1m3[e];
if((dot(f->n,w->w)-f->d)<-EPA_PLANE_EPS)
if((btDot(f->n,w->w)-f->d)<-EPA_PLANE_EPS)
{
sFace* nf=newface(f->c[e1],f->c[e],w,false);
if(nf)