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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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26
src/LinearMath/btTransformUtil.h
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@@ -96,7 +96,7 @@ public:
static void calculateDiffAxisAngleQuaternion(const btQuaternion& orn0,const btQuaternion& orn1a,btVector3& axis,btScalar& angle)
{
btQuaternion orn1 = orn0.farthest(orn1a);
btQuaternion orn1 = orn0.nearest(orn1a);
btQuaternion dorn = orn1 * orn0.inverse();
///floating point inaccuracy can lead to w component > 1..., which breaks
dorn.normalize();
@@ -206,17 +206,21 @@ public:
void initSeparatingDistance(const btVector3& separatingVector,btScalar separatingDistance,const btTransform& transA,const btTransform& transB)
{
m_separatingNormal = separatingVector;
m_separatingDistance = separatingDistance;
const btVector3& toPosA = transA.getOrigin();
const btVector3& toPosB = transB.getOrigin();
btQuaternion toOrnA = transA.getRotation();
btQuaternion toOrnB = transB.getRotation();
m_posA = toPosA;
m_posB = toPosB;
m_ornA = toOrnA;
m_ornB = toOrnB;
if (m_separatingDistance>0.f)
{
m_separatingNormal = separatingVector;
const btVector3& toPosA = transA.getOrigin();
const btVector3& toPosB = transB.getOrigin();
btQuaternion toOrnA = transA.getRotation();
btQuaternion toOrnB = transB.getRotation();
m_posA = toPosA;
m_posB = toPosB;
m_ornA = toOrnA;
m_ornB = toOrnB;
}
}
};