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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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40
src/BulletSoftBody/btSoftBodyInternals.h
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@@ -124,11 +124,11 @@ public:
virtual btVector3 localGetSupportingVertex(const btVector3& vec) const
{
btSoftBody::Node* const * n=&m_cluster->m_nodes[0];
btScalar d=dot(vec,n[0]->m_x);
btScalar d=btDot(vec,n[0]->m_x);
int j=0;
for(int i=1,ni=m_cluster->m_nodes.size();i<ni;++i)
{
const btScalar k=dot(vec,n[i]->m_x);
const btScalar k=btDot(vec,n[i]->m_x);
if(k>d) { d=k;j=i; }
}
return(n[j]->m_x);
@@ -296,9 +296,9 @@ static inline btMatrix3x3 Mul(const btMatrix3x3& a,
//
static inline void Orthogonalize(btMatrix3x3& m)
{
m[2]=cross(m[0],m[1]).normalized();
m[1]=cross(m[2],m[0]).normalized();
m[0]=cross(m[1],m[2]).normalized();
m[2]=btCross(m[0],m[1]).normalized();
m[1]=btCross(m[2],m[0]).normalized();
m[0]=btCross(m[1],m[2]).normalized();
}
//
static inline btMatrix3x3 MassMatrix(btScalar im,const btMatrix3x3& iwi,const btVector3& r)
@@ -335,7 +335,7 @@ static inline btMatrix3x3 AngularImpulseMatrix( const btMatrix3x3& iia,
static inline btVector3 ProjectOnAxis( const btVector3& v,
const btVector3& a)
{
return(a*dot(v,a));
return(a*btDot(v,a));
}
//
static inline btVector3 ProjectOnPlane( const btVector3& v,
@@ -354,7 +354,7 @@ static inline void ProjectOrigin( const btVector3& a,
const btScalar m2=d.length2();
if(m2>SIMD_EPSILON)
{
const btScalar t=Clamp<btScalar>(-dot(a,d)/m2,0,1);
const btScalar t=Clamp<btScalar>(-btDot(a,d)/m2,0,1);
const btVector3 p=a+d*t;
const btScalar l2=p.length2();
if(l2<sqd)
@@ -371,19 +371,19 @@ static inline void ProjectOrigin( const btVector3& a,
btVector3& prj,
btScalar& sqd)
{
const btVector3& q=cross(b-a,c-a);
const btVector3& q=btCross(b-a,c-a);
const btScalar m2=q.length2();
if(m2>SIMD_EPSILON)
{
const btVector3 n=q/btSqrt(m2);
const btScalar k=dot(a,n);
const btScalar k=btDot(a,n);
const btScalar k2=k*k;
if(k2<sqd)
{
const btVector3 p=n*k;
if( (dot(cross(a-p,b-p),q)>0)&&
(dot(cross(b-p,c-p),q)>0)&&
(dot(cross(c-p,a-p),q)>0))
if( (btDot(btCross(a-p,b-p),q)>0)&&
(btDot(btCross(b-p,c-p),q)>0)&&
(btDot(btCross(c-p,a-p),q)>0))
{
prj=p;
sqd=k2;
@@ -413,9 +413,9 @@ static inline btVector3 BaryCoord( const btVector3& a,
const btVector3& c,
const btVector3& p)
{
const btScalar w[]={ cross(a-p,b-p).length(),
cross(b-p,c-p).length(),
cross(c-p,a-p).length()};
const btScalar w[]={ btCross(a-p,b-p).length(),
btCross(b-p,c-p).length(),
btCross(c-p,a-p).length()};
const btScalar isum=1/(w[0]+w[1]+w[2]);
return(btVector3(w[1]*isum,w[2]*isum,w[0]*isum));
}
@@ -485,7 +485,7 @@ static inline btScalar AreaOf( const btVector3& x0,
{
const btVector3 a=x1-x0;
const btVector3 b=x2-x0;
const btVector3 cr=cross(a,b);
const btVector3 cr=btCross(a,b);
const btScalar area=cr.length();
return(area);
}
@@ -499,7 +499,7 @@ static inline btScalar VolumeOf( const btVector3& x0,
const btVector3 a=x1-x0;
const btVector3 b=x2-x0;
const btVector3 c=x3-x0;
return(dot(a,cross(b,c)));
return(btDot(a,btCross(b,c)));
}
//
@@ -512,7 +512,7 @@ static void EvaluateMedium( const btSoftBodyWorldInfo* wfi,
medium.m_density = wfi->air_density;
if(wfi->water_density>0)
{
const btScalar depth=-(dot(x,wfi->water_normal)+wfi->water_offset);
const btScalar depth=-(btDot(x,wfi->water_normal)+wfi->water_offset);
if(depth>0)
{
medium.m_density = wfi->water_density;
@@ -676,7 +676,7 @@ struct btSoftColliders
const btVector3 va=ba.velocity(ra);
const btVector3 vb=bb.velocity(rb);
const btVector3 vrel=va-vb;
const btScalar rvac=dot(vrel,res.normal);
const btScalar rvac=btDot(vrel,res.normal);
const btScalar depth=res.distance-margin;
const btVector3 iv=res.normal*rvac;
const btVector3 fv=vrel-iv;
@@ -839,7 +839,7 @@ struct btSoftColliders
const btVector3 va=m_rigidBody ? m_rigidBody->getVelocityInLocalPoint(ra)*psb->m_sst.sdt : btVector3(0,0,0);
const btVector3 vb=n.m_x-n.m_q;
const btVector3 vr=vb-va;
const btScalar dn=dot(vr,c.m_cti.m_normal);
const btScalar dn=btDot(vr,c.m_cti.m_normal);
const btVector3 fv=vr-c.m_cti.m_normal*dn;
const btScalar fc=psb->m_cfg.kDF*m_colObj1->getFriction();
c.m_node = &n;