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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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58
src/BulletSoftBody/btSoftBody.cpp
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@@ -611,7 +611,7 @@ btScalar btSoftBody::getVolume() const
for(i=0,ni=m_faces.size();i<ni;++i)
{
const Face& f=m_faces[i];
vol+=dot(f.m_n[0]->m_x-org,cross(f.m_n[1]->m_x-org,f.m_n[2]->m_x-org));
vol+=btDot(f.m_n[0]->m_x-org,btCross(f.m_n[1]->m_x-org,f.m_n[2]->m_x-org));
}
vol/=(btScalar)6;
}
@@ -644,14 +644,14 @@ btVector3 btSoftBody::clusterCom(int cluster) const
//
btVector3 btSoftBody::clusterVelocity(const Cluster* cluster,const btVector3& rpos)
{
return(cluster->m_lv+cross(cluster->m_av,rpos));
return(cluster->m_lv+btCross(cluster->m_av,rpos));
}
//
void btSoftBody::clusterVImpulse(Cluster* cluster,const btVector3& rpos,const btVector3& impulse)
{
const btVector3 li=cluster->m_imass*impulse;
const btVector3 ai=cluster->m_invwi*cross(rpos,impulse);
const btVector3 ai=cluster->m_invwi*btCross(rpos,impulse);
cluster->m_vimpulses[0]+=li;cluster->m_lv+=li;
cluster->m_vimpulses[1]+=ai;cluster->m_av+=ai;
cluster->m_nvimpulses++;
@@ -661,7 +661,7 @@ void btSoftBody::clusterVImpulse(Cluster* cluster,const btVector3& rpos,const
void btSoftBody::clusterDImpulse(Cluster* cluster,const btVector3& rpos,const btVector3& impulse)
{
const btVector3 li=cluster->m_imass*impulse;
const btVector3 ai=cluster->m_invwi*cross(rpos,impulse);
const btVector3 ai=cluster->m_invwi*btCross(rpos,impulse);
cluster->m_dimpulses[0]+=li;
cluster->m_dimpulses[1]+=ai;
cluster->m_ndimpulses++;
@@ -1585,19 +1585,19 @@ btScalar btSoftBody::RayFromToCaster::rayFromToTriangle( const btVector3& rayF
static const btScalar ceps=-SIMD_EPSILON*10;
static const btScalar teps=SIMD_EPSILON*10;
const btVector3 n=cross(b-a,c-a);
const btScalar d=dot(a,n);
const btScalar den=dot(rayNormalizedDirection,n);
const btVector3 n=btCross(b-a,c-a);
const btScalar d=btDot(a,n);
const btScalar den=btDot(rayNormalizedDirection,n);
if(!btFuzzyZero(den))
{
const btScalar num=dot(rayFrom,n)-d;
const btScalar num=btDot(rayFrom,n)-d;
const btScalar t=-num/den;
if((t>teps)&&(t<maxt))
{
const btVector3 hit=rayFrom+rayNormalizedDirection*t;
if( (dot(n,cross(a-hit,b-hit))>ceps) &&
(dot(n,cross(b-hit,c-hit))>ceps) &&
(dot(n,cross(c-hit,a-hit))>ceps))
if( (btDot(n,btCross(a-hit,b-hit))>ceps) &&
(btDot(n,btCross(b-hit,c-hit))>ceps) &&
(btDot(n,btCross(c-hit,a-hit))>ceps))
{
return(t);
}
@@ -1783,7 +1783,7 @@ bool btSoftBody::checkContact( btCollisionObject* colObj,
{
cti.m_colObj = colObj;
cti.m_normal = wtr.getBasis()*nrm;
cti.m_offset = -dot( cti.m_normal,
cti.m_offset = -btDot( cti.m_normal,
x-cti.m_normal*dst);
return(true);
}
@@ -1803,7 +1803,7 @@ void btSoftBody::updateNormals()
for(i=0,ni=m_faces.size();i<ni;++i)
{
btSoftBody::Face& f=m_faces[i];
const btVector3 n=cross(f.m_n[1]->m_x-f.m_n[0]->m_x,
const btVector3 n=btCross(f.m_n[1]->m_x-f.m_n[0]->m_x,
f.m_n[2]->m_x-f.m_n[0]->m_x);
f.m_normal=n.normalized();
f.m_n[0]->m_n+=n;
@@ -2058,7 +2058,7 @@ void btSoftBody::updateClusters()
{
const btVector3 v=c.m_nodes[i]->m_v*c.m_masses[i];
c.m_lv += v;
c.m_av += cross(c.m_nodes[i]->m_x-c.m_com,v);
c.m_av += btCross(c.m_nodes[i]->m_x-c.m_com,v);
}
}
c.m_lv=c.m_imass*c.m_lv*(1-c.m_ldamping);
@@ -2174,7 +2174,7 @@ void btSoftBody::applyClusters(bool drift)
const int idx=int(c.m_nodes[j]-&m_nodes[0]);
const btVector3& x=c.m_nodes[j]->m_x;
const btScalar q=c.m_masses[j];
deltas[idx] += (v+cross(w,x-c.m_com))*q;
deltas[idx] += (v+btCross(w,x-c.m_com))*q;
weights[idx] += q;
}
}
@@ -2200,7 +2200,7 @@ void btSoftBody::dampClusters()
Node& n=*c.m_nodes[j];
if(n.m_im>0)
{
const btVector3 vx=c.m_lv+cross(c.m_av,c.m_nodes[j]->m_q-c.m_com);
const btVector3 vx=c.m_lv+btCross(c.m_av,c.m_nodes[j]->m_q-c.m_com);
if(vx.length2()<=n.m_v.length2())
{
n.m_v += c.m_ndamping*(vx-n.m_v);
@@ -2269,8 +2269,8 @@ void btSoftBody::AJoint::Prepare(btScalar dt,int iterations)
Joint::Prepare(dt,iterations);
m_axis[0] = m_bodies[0].xform().getBasis()*m_refs[0];
m_axis[1] = m_bodies[1].xform().getBasis()*m_refs[1];
m_drift = NormalizeAny(cross(m_axis[1],m_axis[0]));
m_drift *= btMin(maxdrift,btAcos(Clamp<btScalar>(dot(m_axis[0],m_axis[1]),-1,+1)));
m_drift = NormalizeAny(btCross(m_axis[1],m_axis[0]));
m_drift *= btMin(maxdrift,btAcos(Clamp<btScalar>(btDot(m_axis[0],m_axis[1]),-1,+1)));
m_drift *= m_erp/dt;
m_massmatrix= AngularImpulseMatrix(m_bodies[0].invWorldInertia(),m_bodies[1].invWorldInertia());
if(m_split>0)
@@ -2287,7 +2287,7 @@ void btSoftBody::AJoint::Solve(btScalar dt,btScalar sor)
const btVector3 va=m_bodies[0].angularVelocity();
const btVector3 vb=m_bodies[1].angularVelocity();
const btVector3 vr=va-vb;
const btScalar sp=dot(vr,m_axis[0]);
const btScalar sp=btDot(vr,m_axis[0]);
const btVector3 vc=vr-m_axis[0]*m_icontrol->Speed(this,sp);
btSoftBody::Impulse impulse;
impulse.m_asVelocity = 1;
@@ -2334,7 +2334,7 @@ void btSoftBody::CJoint::Solve(btScalar dt,btScalar sor)
const btVector3 va=m_bodies[0].velocity(m_rpos[0]);
const btVector3 vb=m_bodies[1].velocity(m_rpos[1]);
const btVector3 vrel=va-vb;
const btScalar rvac=dot(vrel,m_normal);
const btScalar rvac=btDot(vrel,m_normal);
btSoftBody::Impulse impulse;
impulse.m_asVelocity = 1;
impulse.m_velocity = m_drift;
@@ -2417,9 +2417,9 @@ void btSoftBody::applyForces()
case btSoftBody::eAeroModel::V_Point:
nrm=NormalizeAny(rel_v);break;
case btSoftBody::eAeroModel::V_TwoSided:
nrm*=(btScalar)(dot(nrm,rel_v)<0?-1:+1);break;
nrm*=(btScalar)(btDot(nrm,rel_v)<0?-1:+1);break;
}
const btScalar dvn=dot(rel_v,nrm);
const btScalar dvn=btDot(rel_v,nrm);
/* Compute forces */
if(dvn>0)
{
@@ -2463,9 +2463,9 @@ void btSoftBody::applyForces()
switch(m_cfg.aeromodel)
{
case btSoftBody::eAeroModel::F_TwoSided:
nrm*=(btScalar)(dot(nrm,rel_v)<0?-1:+1);break;
nrm*=(btScalar)(btDot(nrm,rel_v)<0?-1:+1);break;
}
const btScalar dvn=dot(rel_v,nrm);
const btScalar dvn=btDot(rel_v,nrm);
/* Compute forces */
if(dvn>0)
{
@@ -2516,10 +2516,10 @@ void btSoftBody::PSolve_RContacts(btSoftBody* psb,btScalar kst,btScalar ti)
const btVector3 va=tmpRigid ? tmpRigid->getVelocityInLocalPoint(c.m_c1)*dt : btVector3(0,0,0);
const btVector3 vb=c.m_node->m_x-c.m_node->m_q;
const btVector3 vr=vb-va;
const btScalar dn=dot(vr,cti.m_normal);
const btScalar dn=btDot(vr,cti.m_normal);
if(dn<=SIMD_EPSILON)
{
const btScalar dp=btMin(dot(c.m_node->m_x,cti.m_normal)+cti.m_offset,mrg);
const btScalar dp=btMin(btDot(c.m_node->m_x,cti.m_normal)+cti.m_offset,mrg);
const btVector3 fv=vr-cti.m_normal*dn;
const btVector3 impulse=c.m_c0*((vr-fv*c.m_c3+cti.m_normal*(dp*c.m_c4))*kst);
c.m_node->m_x-=impulse*c.m_c2;
@@ -2548,9 +2548,9 @@ void btSoftBody::PSolve_SContacts(btSoftBody* psb,btScalar,btScalar ti)
c.m_weights);
const btVector3 vr=(n.m_x-n.m_q)-(p-q);
btVector3 corr(0,0,0);
if(dot(vr,nr)<0)
if(btDot(vr,nr)<0)
{
const btScalar j=c.m_margin-(dot(nr,n.m_x)-dot(nr,p));
const btScalar j=c.m_margin-(btDot(nr,n.m_x)-btDot(nr,p));
corr+=c.m_normal*j;
}
corr -= ProjectOnPlane(vr,nr)*c.m_friction;
@@ -2588,7 +2588,7 @@ void btSoftBody::VSolve_Links(btSoftBody* psb,btScalar kst)
{
Link& l=psb->m_links[i];
Node** n=l.m_n;
const btScalar j=-dot(l.m_c3,n[0]->m_v-n[1]->m_v)*l.m_c2*kst;
const btScalar j=-btDot(l.m_c3,n[0]->m_v-n[1]->m_v)*l.m_c2*kst;
n[0]->m_v+= l.m_c3*(j*n[0]->m_im);
n[1]->m_v-= l.m_c3*(j*n[1]->m_im);
}