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Fixes for FPU exceptions, thanks to Phil Knight for reporting and John McCutchan for fix/workarounds.

Browse Source 
Added new cluster collision methods for soft bodies, thanks to Nathanael Presson.
Enable/disable textures/shadows for specific demos.
This commit is contained in:
erwin.coumans
2008-08-01 01:04:45 +00:00
parent af4520801b
commit 4894f24c9a
31 changed files with 169 additions and 59 deletions
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11
Demos/AllBulletDemos/DemoEntries.cpp
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@@ -120,6 +120,17 @@ btDemoEntry g_demoEntries[] =
{"SoftBody Torus Match",SoftDemo14::Create}, {"SoftBody Torus Match",SoftDemo14::Create},
{"SoftBody Bunny",SoftDemo15::Create}, {"SoftBody Bunny",SoftDemo15::Create},
{"SoftBody Bunny Match",SoftDemo16::Create}, {"SoftBody Bunny Match",SoftDemo16::Create},
{"SoftBody Init Cutting",SoftDemo17::Create},
{"SoftBody Cluster Deform",SoftDemo18::Create},
{"SoftBody Cluster Collide1",SoftDemo19::Create},
{"SoftBody Cluster Collide2",SoftDemo20::Create},
{"SoftBody Cluster Socket",SoftDemo21::Create},
{"SoftBody Cluster Hinge",SoftDemo22::Create},
{"SoftBody Cluster Combine",SoftDemo23::Create},
{"SoftBody Cluster Car",SoftDemo24::Create},
{"SoftBody Cluster Robot",SoftDemo25::Create},
{"SoftBody Cluster Stack Soft",SoftDemo26::Create},
{"SoftBody Cluster Stack Mixed",SoftDemo27::Create},
{"DynamicControlDemo",MotorDemo::Create}, {"DynamicControlDemo",MotorDemo::Create},
{"RagdollDemo",RagdollDemo::Create}, {"RagdollDemo",RagdollDemo::Create},
{"SliderConstraint",SliderConstraintDemo::Create}, {"SliderConstraint",SliderConstraintDemo::Create},

15
Demos/AllBulletDemos/Main.cpp
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@@ -329,6 +329,21 @@ void MouseMotion(int x, int y)
int main(int argc, char** argv) int main(int argc, char** argv)
{ {
//#define CHECK_FPU_EXCEPTIONS 1
#ifdef CHECK_FPU_EXCEPTIONS
int cw = _control87(0, 0);
// Set the exception masks off, turn exceptions on
cw &= ~(EM_ZERODIVIDE | EM_INVALID);
printf("control87 = %#x\n", cw);
// Set the control word
_control87(cw, MCW_EM);
#endif //CHECK_FPU_EXCEPTIONS
setDefaultSettings(); setDefaultSettings();
int bulletVersion = btGetVersion(); int bulletVersion = btGetVersion();

6
Demos/BasicDemo/BasicDemo.cpp
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@@ -77,6 +77,8 @@ void BasicDemo::displayCallback(void) {
void BasicDemo::initPhysics() void BasicDemo::initPhysics()
{ {
setTexturing(true);
setShadows(true);
setCameraDistance(btScalar(50.)); setCameraDistance(btScalar(50.));
@@ -102,8 +104,8 @@ void BasicDemo::initPhysics()
m_dynamicsWorld->setGravity(btVector3(0,-10,0)); m_dynamicsWorld->setGravity(btVector3(0,-10,0));
///create a few basic rigid bodies ///create a few basic rigid bodies
// btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.))); btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),50); // btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),50);
m_collisionShapes.push_back(groundShape); m_collisionShapes.push_back(groundShape);

3
Demos/BspDemo/BspDemo.cpp
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@@ -133,7 +133,8 @@ BspDemo::~BspDemo()
void BspDemo::initPhysics(char* bspfilename) void BspDemo::initPhysics(char* bspfilename)
{ {
setTexturing(true);
setShadows(false);
m_cameraUp = btVector3(0,0,1); m_cameraUp = btVector3(0,0,1);
m_forwardAxis = 1; m_forwardAxis = 1;

3
Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp
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@@ -319,6 +319,9 @@ float myFrictionModel( btRigidBody& body1, btRigidBody& body2, btManifoldPoint&
void CcdPhysicsDemo::initPhysics() void CcdPhysicsDemo::initPhysics()
{ {
setTexturing(true);
setShadows(false);
#ifdef USE_PARALLEL_DISPATCHER #ifdef USE_PARALLEL_DISPATCHER
#ifdef WIN32 #ifdef WIN32
m_threadSupportSolver = 0; m_threadSupportSolver = 0;

7
Demos/CollisionDemo/CollisionDemo.cpp
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@@ -226,13 +226,16 @@ void CollisionDemo::displayCallback(void) {
convexConvex.getClosestPoints(input ,gjkOutput,0); convexConvex.getClosestPoints(input ,gjkOutput,0);
btVector3 worldBoundsMin(-1000,-1000,-1000);
btVector3 worldBoundsMax(1000,1000,1000);
for (i=0;i<numObjects;i++) for (i=0;i<numObjects;i++)
{ {
tr[i].getOpenGLMatrix( m ); tr[i].getOpenGLMatrix( m );
m_shapeDrawer.drawOpenGL(m,shapePtr[i],btVector3(1,1,1),getDebugMode()); m_shapeDrawer.drawOpenGL(m,shapePtr[i],btVector3(1,1,1),getDebugMode(),worldBoundsMin,worldBoundsMax);
} }
@@ -248,7 +251,7 @@ void CollisionDemo::displayCallback(void) {
btTransform ident; btTransform ident;
ident.setIdentity(); ident.setIdentity();
ident.getOpenGLMatrix(m); ident.getOpenGLMatrix(m);
m_shapeDrawer.drawOpenGL(m,&simplex,btVector3(1,1,1),getDebugMode()); m_shapeDrawer.drawOpenGL(m,&simplex,btVector3(1,1,1),getDebugMode(),worldBoundsMin,worldBoundsMax);
btQuaternion orn; btQuaternion orn;

6
Demos/CollisionInterfaceDemo/CollisionInterfaceDemo.cpp
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@@ -57,7 +57,7 @@ int main(int argc,char** argv)
void CollisionInterfaceDemo::initPhysics() void CollisionInterfaceDemo::initPhysics()
{ {
m_debugMode |= btIDebugDraw::DBG_DrawWireframe; //m_debugMode |= btIDebugDraw::DBG_DrawWireframe;
btMatrix3x3 basisA; btMatrix3x3 basisA;
basisA.setIdentity(); basisA.setIdentity();
@@ -158,13 +158,15 @@ void CollisionInterfaceDemo::displayCallback(void) {
btScalar m[16]; btScalar m[16];
btVector3 worldBoundsMin,worldBoundsMax;
collisionWorld->getBroadphase()->getBroadphaseAabb(worldBoundsMin,worldBoundsMax);
for (i=0;i<numObjects;i++) for (i=0;i<numObjects;i++)
{ {
objects[i].getWorldTransform().getOpenGLMatrix( m ); objects[i].getWorldTransform().getOpenGLMatrix( m );
m_shapeDrawer.drawOpenGL(m,objects[i].getCollisionShape(),btVector3(1,1,1),getDebugMode()); m_shapeDrawer.drawOpenGL(m,objects[i].getCollisionShape(),btVector3(1,1,1),getDebugMode(),worldBoundsMin,worldBoundsMax);
} }

4
Demos/ConcaveDemo/ConcavePhysicsDemo.cpp
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@@ -138,6 +138,10 @@ void ConcaveDemo::keyboardCallback(unsigned char key, int x, int y)
void ConcaveDemo::initPhysics() void ConcaveDemo::initPhysics()
{ {
setTexturing(true);
setShadows(false);
#define TRISIZE 10.f #define TRISIZE 10.f
gContactAddedCallback = CustomMaterialCombinerCallback; gContactAddedCallback = CustomMaterialCombinerCallback;

3
Demos/ConstraintDemo/ConstraintDemo.cpp
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@@ -63,6 +63,9 @@ void drawLimit()
void ConstraintDemo::initPhysics() void ConstraintDemo::initPhysics()
{ {
setTexturing(true);
setShadows(true);
setCameraDistance(26.f); setCameraDistance(26.f);
m_collisionConfiguration = new btDefaultCollisionConfiguration(); m_collisionConfiguration = new btDefaultCollisionConfiguration();

12
Demos/ContinuousConvexCollision/ContinuousConvexCollisionDemo.cpp
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@@ -149,6 +149,10 @@ void btContinuousConvexCollisionDemo::displayCallback(void) {
btScalar m[16]; btScalar m[16];
int i; int i;
btVector3 worldBoundsMin(-1000,-1000,-1000);
btVector3 worldBoundsMax(1000,1000,1000);
/*for (i=0;i<numObjects;i++) /*for (i=0;i<numObjects;i++)
{ {
fromTrans[i].getOpenGLMatrix( m ); fromTrans[i].getOpenGLMatrix( m );
@@ -177,7 +181,7 @@ void btContinuousConvexCollisionDemo::displayCallback(void) {
//m_shapeDrawer.drawOpenGL(m,shapePtr[i]); //m_shapeDrawer.drawOpenGL(m,shapePtr[i]);
interpolatedTrans.getOpenGLMatrix( m ); interpolatedTrans.getOpenGLMatrix( m );
m_shapeDrawer.drawOpenGL(m,shapePtr[i],btVector3(1,0,1),getDebugMode()); m_shapeDrawer.drawOpenGL(m,shapePtr[i],btVector3(1,0,1),getDebugMode(),worldBoundsMin,worldBoundsMax);
} }
} }
} }
@@ -229,7 +233,7 @@ void btContinuousConvexCollisionDemo::displayCallback(void) {
for (i=0;i<numObjects;i++) for (i=0;i<numObjects;i++)
{ {
fromTrans[i].getOpenGLMatrix(m); fromTrans[i].getOpenGLMatrix(m);
m_shapeDrawer.drawOpenGL(m,shapePtr[i],btVector3(1,1,1),getDebugMode()); m_shapeDrawer.drawOpenGL(m,shapePtr[i],btVector3(1,1,1),getDebugMode(),worldBoundsMin,worldBoundsMax);
} }
btDebugCastResult rayResult1(fromTrans[0],shapePtr[0],linVels[0],angVels[0],&m_shapeDrawer); btDebugCastResult rayResult1(fromTrans[0],shapePtr[0],linVels[0],angVels[0],&m_shapeDrawer);
@@ -267,12 +271,12 @@ void btContinuousConvexCollisionDemo::displayCallback(void) {
btTransformUtil::integrateTransform(fromTrans[0],linVels[0],angVels[0],rayResultPtr->m_fraction,hitTrans); btTransformUtil::integrateTransform(fromTrans[0],linVels[0],angVels[0],rayResultPtr->m_fraction,hitTrans);
hitTrans.getOpenGLMatrix(m); hitTrans.getOpenGLMatrix(m);
m_shapeDrawer.drawOpenGL(m,shapePtr[0],btVector3(0,1,0),getDebugMode()); m_shapeDrawer.drawOpenGL(m,shapePtr[0],btVector3(0,1,0),getDebugMode(),worldBoundsMin,worldBoundsMax);
btTransformUtil::integrateTransform(fromTrans[i],linVels[i],angVels[i],rayResultPtr->m_fraction,hitTrans); btTransformUtil::integrateTransform(fromTrans[i],linVels[i],angVels[i],rayResultPtr->m_fraction,hitTrans);
hitTrans.getOpenGLMatrix(m); hitTrans.getOpenGLMatrix(m);
m_shapeDrawer.drawOpenGL(m,shapePtr[i],btVector3(0,1,1),getDebugMode()); m_shapeDrawer.drawOpenGL(m,shapePtr[i],btVector3(0,1,1),getDebugMode(),worldBoundsMin,worldBoundsMax);
} }

3
Demos/ConvexDecompositionDemo/ConvexDecompositionDemo.cpp
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@@ -59,6 +59,9 @@ unsigned int tcount = 0;
void ConvexDecompositionDemo::initPhysics(const char* filename) void ConvexDecompositionDemo::initPhysics(const char* filename)
{ {
setTexturing(true);
setShadows(true);
setCameraDistance(26.f); setCameraDistance(26.f);
ConvexDecomposition::WavefrontObj wo; ConvexDecomposition::WavefrontObj wo;

6
Demos/DoublePrecisionDemo/DoublePrecisionDemo.cpp
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@@ -121,6 +121,10 @@ void DoublePrecisionDemo::displayCallback(void)
int i; int i;
btVector3 worldBoundsMin,worldBoundsMax;
collisionWorld->getBroadphase()->getBroadphaseAabb(worldBoundsMin,worldBoundsMax);
///one way to draw all the contact points is iterating over contact manifolds / points: ///one way to draw all the contact points is iterating over contact manifolds / points:
int numManifolds = collisionWorld->getDispatcher()->getNumManifolds(); int numManifolds = collisionWorld->getDispatcher()->getNumManifolds();
for (i=0;i<numManifolds;i++) for (i=0;i<numManifolds;i++)
@@ -169,7 +173,7 @@ void DoublePrecisionDemo::displayCallback(void)
temp = objects[i].getWorldTransform(); temp = objects[i].getWorldTransform();
temp.setOrigin(temp.getOrigin() - m_cameraPosition); temp.setOrigin(temp.getOrigin() - m_cameraPosition);
temp.getOpenGLMatrix( m ); temp.getOpenGLMatrix( m );
m_shapeDrawer.drawOpenGL(m,objects[i].getCollisionShape(),color,getDebugMode()); m_shapeDrawer.drawOpenGL(m,objects[i].getCollisionShape(),color,getDebugMode(),worldBoundsMin,worldBoundsMax);
} }
objects[1].getWorldTransform().setOrigin(objects[1].getWorldTransform().getOrigin()+btVector3(-VERY_SMALL_INCREMENT,-VERY_SMALL_INCREMENT,0)); objects[1].getWorldTransform().setOrigin(objects[1].getWorldTransform().getOrigin()+btVector3(-VERY_SMALL_INCREMENT,-VERY_SMALL_INCREMENT,0));

3
Demos/DynamicControlDemo/MotorDemo.cpp
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@@ -249,6 +249,9 @@ public:
void MotorDemo::initPhysics() void MotorDemo::initPhysics()
{ {
setTexturing(true);
setShadows(true);
// Setup the basic world // Setup the basic world
m_Time = 0; m_Time = 0;

3
Demos/GenericJointDemo/GenericJointDemo.cpp
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@@ -59,6 +59,9 @@ int main(int argc,char* argv[])
void GenericJointDemo::initPhysics() void GenericJointDemo::initPhysics()
{ {
setTexturing(true);
setShadows(true);
// Setup the basic world // Setup the basic world
btDefaultCollisionConfiguration * collision_config = new btDefaultCollisionConfiguration(); btDefaultCollisionConfiguration * collision_config = new btDefaultCollisionConfiguration();

9
Demos/GimpactTestDemo/GimpactTestDemo.cpp
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@@ -110,6 +110,10 @@ void GimpactConcaveDemo::renderme()
if (m_dynamicsWorld) if (m_dynamicsWorld)
{ {
btVector3 worldBoundsMin,worldBoundsMax;
getDynamicsWorld()->getBroadphase()->getBroadphaseAabb(worldBoundsMin,worldBoundsMax);
int numObjects = m_dynamicsWorld->getNumCollisionObjects(); int numObjects = m_dynamicsWorld->getNumCollisionObjects();
btVector3 wireColor(1,0,0); btVector3 wireColor(1,0,0);
for (int i=0;i<numObjects;i++) for (int i=0;i<numObjects;i++)
@@ -153,7 +157,7 @@ void GimpactConcaveDemo::renderme()
} }
} }
m_shapeDrawer.drawOpenGL(m,colObj->getCollisionShape(),wireColor,getDebugMode()); m_shapeDrawer.drawOpenGL(m,colObj->getCollisionShape(),wireColor,getDebugMode(),worldBoundsMin,worldBoundsMax);
} }
@@ -364,6 +368,9 @@ btCollisionShape * GimpactConcaveDemo::createBunnyShape()
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
void GimpactConcaveDemo::initPhysics() void GimpactConcaveDemo::initPhysics()
{ {
setTexturing(true);
setShadows(false);
setCameraDistance(45.f); setCameraDistance(45.f);

14
Demos/GjkConvexCastDemo/LinearConvexCastDemo.cpp
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@@ -136,6 +136,10 @@ void LinearConvexCastDemo::displayCallback(void)
gGjkSimplexSolver.reset(); gGjkSimplexSolver.reset();
btVector3 worldBoundsMin(-1000,-1000,-1000);
btVector3 worldBoundsMax(1000,1000,1000);
//btGjkConvexCast convexCaster(shapePtr[ 0 ], shapePtr[ 1 ], &gGjkSimplexSolver ); //btGjkConvexCast convexCaster(shapePtr[ 0 ], shapePtr[ 1 ], &gGjkSimplexSolver );
btSubsimplexConvexCast convexCaster( shapePtr[ 0 ], shapePtr[ 1 ], &gGjkSimplexSolver ); btSubsimplexConvexCast convexCaster( shapePtr[ 0 ], shapePtr[ 1 ], &gGjkSimplexSolver );
@@ -154,11 +158,11 @@ void LinearConvexCastDemo::displayCallback(void)
btTransform tmp = tr[0]; btTransform tmp = tr[0];
tmp.setOrigin(result.m_hitPoint); tmp.setOrigin(result.m_hitPoint);
tmp.getOpenGLMatrix(m3); tmp.getOpenGLMatrix(m3);
m_shapeDrawer.drawOpenGL( m3, &sphere, btVector3( 1, 0, 1 ), getDebugMode() ); m_shapeDrawer.drawOpenGL( m3, &sphere, btVector3( 1, 0, 1 ), getDebugMode() ,worldBoundsMin,worldBoundsMax);
m_shapeDrawer.drawOpenGL( m1, shapePtr[ 0 ], btVector3( 1, 0, 0 ), getDebugMode() ); m_shapeDrawer.drawOpenGL( m1, shapePtr[ 0 ], btVector3( 1, 0, 0 ), getDebugMode() ,worldBoundsMin,worldBoundsMax);
m_shapeDrawer.drawOpenGL( m2, shapePtr[ 1 ], btVector3( 1, 0, 0 ), getDebugMode() ); m_shapeDrawer.drawOpenGL( m2, shapePtr[ 1 ], btVector3( 1, 0, 0 ), getDebugMode() ,worldBoundsMin,worldBoundsMax);
btVector3 originA, originB; btVector3 originA, originB;
originA.setInterpolate3( tr[ 0 ].getOrigin(), toA.getOrigin(), result.m_fraction ); originA.setInterpolate3( tr[ 0 ].getOrigin(), toA.getOrigin(), result.m_fraction );
@@ -173,8 +177,8 @@ void LinearConvexCastDemo::displayCallback(void)
A.getOpenGLMatrix( m1 ); A.getOpenGLMatrix( m1 );
B.getOpenGLMatrix( m2 ); B.getOpenGLMatrix( m2 );
m_shapeDrawer.drawOpenGL( m1, shapePtr[ 0 ], btVector3( 1, 1, 0 ), getDebugMode() ); m_shapeDrawer.drawOpenGL( m1, shapePtr[ 0 ], btVector3( 1, 1, 0 ), getDebugMode() ,worldBoundsMin,worldBoundsMax);
m_shapeDrawer.drawOpenGL( m2, shapePtr[ 1 ], btVector3( 1, 1, 0 ), getDebugMode() ); m_shapeDrawer.drawOpenGL( m2, shapePtr[ 1 ], btVector3( 1, 1, 0 ), getDebugMode() ,worldBoundsMin,worldBoundsMax);
glFlush(); glFlush();
glutSwapBuffers(); glutSwapBuffers();

6
Demos/MovingConcaveDemo/ConcavePhysicsDemo.cpp
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@@ -1492,6 +1492,10 @@ void ConcaveDemo::renderme()
if (m_dynamicsWorld) if (m_dynamicsWorld)
{ {
btVector3 worldBoundsMin,worldBoundsMax;
getDynamicsWorld()->getBroadphase()->getBroadphaseAabb(worldBoundsMin,worldBoundsMax);
int numObjects = m_dynamicsWorld->getNumCollisionObjects(); int numObjects = m_dynamicsWorld->getNumCollisionObjects();
btVector3 wireColor(1,0,0); btVector3 wireColor(1,0,0);
for (int i=0;i<numObjects;i++) for (int i=0;i<numObjects;i++)
@@ -1535,7 +1539,7 @@ void ConcaveDemo::renderme()
} }
} }
m_shapeDrawer.drawOpenGL(m,colObj->getCollisionShape(),wireColor,getDebugMode()); m_shapeDrawer.drawOpenGL(m,colObj->getCollisionShape(),wireColor,getDebugMode(),worldBoundsMin,worldBoundsMax);
} }

3
Demos/MultiThreadedDemo/CMakeLists.txt
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@@ -23,4 +23,7 @@ ADD_EXECUTABLE(MultiThreadedDemo
MultiThreadedDemo.cpp MultiThreadedDemo.cpp
MultiThreadedDemo.h MultiThreadedDemo.h
) )
IF (UNIX)
TARGET_LINK_LIBRARIES(MultiThreadedDemo pthread)
ENDIF(UNIX)

5
Demos/OpenGL/DebugCastResult.h
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@@ -70,12 +70,15 @@ struct btDebugCastResult : public btConvexCast::CastResult
virtual void DebugDraw(btScalar fraction) virtual void DebugDraw(btScalar fraction)
{ {
btVector3 worldBoundsMin(-1000,-1000,-1000);
btVector3 worldBoundsMax(1000,1000,1000);
btScalar m[16]; btScalar m[16];
btTransform hitTrans; btTransform hitTrans;
btTransformUtil::integrateTransform(m_fromTrans,m_linVel,m_angVel,fraction,hitTrans); btTransformUtil::integrateTransform(m_fromTrans,m_linVel,m_angVel,fraction,hitTrans);
hitTrans.getOpenGLMatrix(m); hitTrans.getOpenGLMatrix(m);
m_shapeDrawer->drawOpenGL(m,m_shape,btVector3(1,0,0),btIDebugDraw::DBG_NoDebug); m_shapeDrawer->drawOpenGL(m,m_shape,btVector3(1,0,0),btIDebugDraw::DBG_NoDebug,worldBoundsMin,worldBoundsMax);
} }
}; };

13
Demos/OpenGL/DemoApplication.cpp
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@@ -78,6 +78,9 @@ m_shootBoxShape(0),
#ifndef BT_NO_PROFILE #ifndef BT_NO_PROFILE
m_profileIterator = CProfileManager::Get_Iterator(); m_profileIterator = CProfileManager::Get_Iterator();
#endif //BT_NO_PROFILE #endif //BT_NO_PROFILE
m_shapeDrawer.enableTexture(true);
m_enableshadows = false;
} }
@@ -957,11 +960,15 @@ for(int i=0;i<numObjects;i++)
wireColor += btVector3 (0.f,0.5f,0.f); wireColor += btVector3 (0.f,0.5f,0.f);
} }
} }
btVector3 aabbMin,aabbMax;
m_dynamicsWorld->getBroadphase()->getBroadphaseAabb(aabbMin,aabbMax);
switch(pass) switch(pass)
{ {
case 0: m_shapeDrawer.drawOpenGL(m,colObj->getCollisionShape(),wireColor,getDebugMode());break; case 0: m_shapeDrawer.drawOpenGL(m,colObj->getCollisionShape(),wireColor,getDebugMode(),aabbMin,aabbMax);break;
case 1: m_shapeDrawer.drawShadow(m,m_sundirection*rot,colObj->getCollisionShape());break; case 1: m_shapeDrawer.drawShadow(m,m_sundirection*rot,colObj->getCollisionShape(),aabbMin,aabbMax);break;
case 2: m_shapeDrawer.drawOpenGL(m,colObj->getCollisionShape(),wireColor*0.3,0);break; case 2: m_shapeDrawer.drawOpenGL(m,colObj->getCollisionShape(),wireColor*0.3,0,aabbMin,aabbMax);break;
} }
} }
} }

31
Demos/OpenGL/GL_ShapeDrawer.cpp
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@@ -360,7 +360,7 @@ GL_ShapeDrawer::ShapeCache* GL_ShapeDrawer::cache(btConvexShape* shape)
return(sc); return(sc);
} }
void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, const btVector3& color,int debugMode) void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, const btVector3& color,int debugMode,const btVector3& worldBoundsMin,const btVector3& worldBoundsMax)
{ {
@@ -378,7 +378,7 @@ void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, cons
{0,0,scalingFactor,0}, {0,0,scalingFactor,0},
{0,0,0,1}}; {0,0,0,1}};
drawOpenGL( (btScalar*)tmpScaling,convexShape,color,debugMode); drawOpenGL( (btScalar*)tmpScaling,convexShape,color,debugMode,worldBoundsMin,worldBoundsMax);
} }
glPopMatrix(); glPopMatrix();
return; return;
@@ -393,7 +393,7 @@ void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, cons
const btCollisionShape* colShape = compoundShape->getChildShape(i); const btCollisionShape* colShape = compoundShape->getChildShape(i);
btScalar childMat[16]; btScalar childMat[16];
childTrans.getOpenGLMatrix(childMat); childTrans.getOpenGLMatrix(childMat);
drawOpenGL(childMat,colShape,color,debugMode); drawOpenGL(childMat,colShape,color,debugMode,worldBoundsMin,worldBoundsMax);
} }
} else } else
@@ -447,6 +447,9 @@ void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, cons
{ {
glEnable(GL_TEXTURE_2D); glEnable(GL_TEXTURE_2D);
glBindTexture(GL_TEXTURE_2D,m_texturehandle); glBindTexture(GL_TEXTURE_2D,m_texturehandle);
} else
{
glDisable(GL_TEXTURE_2D);
} }
@@ -692,17 +695,11 @@ void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, cons
// if (shape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE) // if (shape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
{ {
btConcaveShape* concaveMesh = (btConcaveShape*) shape; btConcaveShape* concaveMesh = (btConcaveShape*) shape;
//btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30));
//btVector3 aabbMax(100,100,100);//btScalar(1e30),btScalar(1e30),btScalar(1e30));
//todo pass camera, for some culling
btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30));
btVector3 aabbMin(-btScalar(1e30),-btScalar(1e30),-btScalar(1e30));
GlDrawcallback drawCallback; GlDrawcallback drawCallback;
drawCallback.m_wireframe = (debugMode & btIDebugDraw::DBG_DrawWireframe)!=0; drawCallback.m_wireframe = (debugMode & btIDebugDraw::DBG_DrawWireframe)!=0;
concaveMesh->processAllTriangles(&drawCallback,aabbMin,aabbMax); concaveMesh->processAllTriangles(&drawCallback,worldBoundsMin,worldBoundsMax);
} }
#endif #endif
@@ -749,7 +746,7 @@ if(m_textureenabled) glDisable(GL_TEXTURE_2D);
} }
// //
void GL_ShapeDrawer::drawShadow(btScalar* m,const btVector3& extrusion,const btCollisionShape* shape) void GL_ShapeDrawer::drawShadow(btScalar* m,const btVector3& extrusion,const btCollisionShape* shape,const btVector3& worldBoundsMin,const btVector3& worldBoundsMax)
{ {
glPushMatrix(); glPushMatrix();
btglMultMatrix(m); btglMultMatrix(m);
@@ -762,7 +759,7 @@ void GL_ShapeDrawer::drawShadow(btScalar* m,const btVector3& extrusion,const bt
{0,scalingFactor,0,0}, {0,scalingFactor,0,0},
{0,0,scalingFactor,0}, {0,0,scalingFactor,0},
{0,0,0,1}}; {0,0,0,1}};
drawShadow((btScalar*)tmpScaling,extrusion,convexShape); drawShadow((btScalar*)tmpScaling,extrusion,convexShape,worldBoundsMin,worldBoundsMax);
glPopMatrix(); glPopMatrix();
return; return;
} }
@@ -775,7 +772,7 @@ void GL_ShapeDrawer::drawShadow(btScalar* m,const btVector3& extrusion,const bt
const btCollisionShape* colShape = compoundShape->getChildShape(i); const btCollisionShape* colShape = compoundShape->getChildShape(i);
btScalar childMat[16]; btScalar childMat[16];
childTrans.getOpenGLMatrix(childMat); childTrans.getOpenGLMatrix(childMat);
drawShadow(childMat,extrusion*childTrans.getBasis(),colShape); drawShadow(childMat,extrusion*childTrans.getBasis(),colShape,worldBoundsMin,worldBoundsMax);
} }
} }
else else
@@ -812,17 +809,11 @@ void GL_ShapeDrawer::drawShadow(btScalar* m,const btVector3& extrusion,const bt
// if (shape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE) // if (shape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
{ {
btConcaveShape* concaveMesh = (btConcaveShape*) shape; btConcaveShape* concaveMesh = (btConcaveShape*) shape;
//btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30));
//btVector3 aabbMax(100,100,100);//btScalar(1e30),btScalar(1e30),btScalar(1e30));
//todo pass camera, for some culling
btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30));
btVector3 aabbMin(-btScalar(1e30),-btScalar(1e30),-btScalar(1e30));
GlDrawcallback drawCallback; GlDrawcallback drawCallback;
drawCallback.m_wireframe = false; drawCallback.m_wireframe = false;
concaveMesh->processAllTriangles(&drawCallback,aabbMin,aabbMax); concaveMesh->processAllTriangles(&drawCallback,worldBoundsMin,worldBoundsMax);
} }
glPopMatrix(); glPopMatrix();

4
Demos/OpenGL/GL_ShapeDrawer.h
View File

@@ -47,8 +47,8 @@ class GL_ShapeDrawer
virtual ~GL_ShapeDrawer(); virtual ~GL_ShapeDrawer();
///drawOpenGL might allocate temporary memoty, stores pointer in shape userpointer ///drawOpenGL might allocate temporary memoty, stores pointer in shape userpointer
void drawOpenGL(btScalar* m, const btCollisionShape* shape, const btVector3& color,int debugMode); void drawOpenGL(btScalar* m, const btCollisionShape* shape, const btVector3& color,int debugMode,const btVector3& worldBoundsMin,const btVector3& worldBoundsMax);
void drawShadow(btScalar* m, const btVector3& extrusion,const btCollisionShape* shape); void drawShadow(btScalar* m, const btVector3& extrusion,const btCollisionShape* shape,const btVector3& worldBoundsMin,const btVector3& worldBoundsMax);
bool enableTexture(bool enable) { bool p=m_textureenabled;m_textureenabled=enable;return(p); } bool enableTexture(bool enable) { bool p=m_textureenabled;m_textureenabled=enable;return(p); }

3
Demos/RagdollDemo/RagdollDemo.cpp
View File

@@ -309,6 +309,9 @@ void RagdollDemo::initPhysics()
{ {
// Setup the basic world // Setup the basic world
setTexturing(true);
setShadows(true);
setCameraDistance(btScalar(5.)); setCameraDistance(btScalar(5.));
m_collisionConfiguration = new btDefaultCollisionConfiguration(); m_collisionConfiguration = new btDefaultCollisionConfiguration();

5
Demos/SimplexDemo/SimplexDemo.cpp
View File

@@ -76,6 +76,9 @@ void SimplexDemo::displayCallback()
btScalar m[16]; btScalar m[16];
int i; int i;
btVector3 worldBoundsMin(-1000,-1000,-1000);
btVector3 worldBoundsMax(1000,1000,1000);
for (i=0;i<numObjects;i++) for (i=0;i<numObjects;i++)
{ {
btTransform transA; btTransform transA;
@@ -88,7 +91,7 @@ void SimplexDemo::displayCallback()
transA.getOpenGLMatrix( m ); transA.getOpenGLMatrix( m );
/// draw the simplex /// draw the simplex
m_shapeDrawer.drawOpenGL(m,shapePtr[i],btVector3(1,1,1),getDebugMode()); m_shapeDrawer.drawOpenGL(m,shapePtr[i],btVector3(1,1,1),getDebugMode(),worldBoundsMin,worldBoundsMax);
/// calculate closest point from simplex to the origin, and draw this vector /// calculate closest point from simplex to the origin, and draw this vector
simplex.calcClosest(m); simplex.calcClosest(m);

11
Demos/SoftDemo/SoftDemo.h
View File

@@ -165,6 +165,17 @@ MACRO_SOFT_DEMO(13)//Init_Torus
MACRO_SOFT_DEMO(14)//Init_TorusMatch MACRO_SOFT_DEMO(14)//Init_TorusMatch
MACRO_SOFT_DEMO(15)//Init_Bunny MACRO_SOFT_DEMO(15)//Init_Bunny
MACRO_SOFT_DEMO(16)//Init_BunnyMatch MACRO_SOFT_DEMO(16)//Init_BunnyMatch
MACRO_SOFT_DEMO(17)//Init_Cutting1
MACRO_SOFT_DEMO(18)//Init_ClusterDeform
MACRO_SOFT_DEMO(19)//Init_ClusterCollide1
MACRO_SOFT_DEMO(20)//Init_ClusterCollide2
MACRO_SOFT_DEMO(21)//Init_ClusterSocket
MACRO_SOFT_DEMO(22)//Init_ClusterHinge
MACRO_SOFT_DEMO(23)//Init_ClusterCombine
MACRO_SOFT_DEMO(24)//Init_ClusterCar
MACRO_SOFT_DEMO(25)//Init_ClusterRobot
MACRO_SOFT_DEMO(26)//Init_ClusterStackSoft
MACRO_SOFT_DEMO(27)//Init_ClusterStackMixed

7
Demos/VehicleDemo/VehicleDemo.cpp
View File

@@ -403,13 +403,18 @@ void VehicleDemo::renderme()
btCylinderShapeX wheelShape(btVector3(wheelWidth,wheelRadius,wheelRadius)); btCylinderShapeX wheelShape(btVector3(wheelWidth,wheelRadius,wheelRadius));
btVector3 wheelColor(1,0,0); btVector3 wheelColor(1,0,0);
btVector3 worldBoundsMin,worldBoundsMax;
getDynamicsWorld()->getBroadphase()->getBroadphaseAabb(worldBoundsMin,worldBoundsMax);
for (i=0;i<m_vehicle->getNumWheels();i++) for (i=0;i<m_vehicle->getNumWheels();i++)
{ {
//synchronize the wheels with the (interpolated) chassis worldtransform //synchronize the wheels with the (interpolated) chassis worldtransform
m_vehicle->updateWheelTransform(i,true); m_vehicle->updateWheelTransform(i,true);
//draw wheels (cylinders) //draw wheels (cylinders)
m_vehicle->getWheelInfo(i).m_worldTransform.getOpenGLMatrix(m); m_vehicle->getWheelInfo(i).m_worldTransform.getOpenGLMatrix(m);
m_shapeDrawer.drawOpenGL(m,&wheelShape,wheelColor,getDebugMode()); m_shapeDrawer.drawOpenGL(m,&wheelShape,wheelColor,getDebugMode(),worldBoundsMin,worldBoundsMax);
} }

2
src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp
View File

@@ -235,7 +235,7 @@ btCollisionAlgorithmCreateFunc* btDefaultCollisionConfiguration::getCollisionAlg
if ((proxyType0 == BOX_SHAPE_PROXYTYPE) && (proxyType1 == BOX_SHAPE_PROXYTYPE)) if ((proxyType0 == BOX_SHAPE_PROXYTYPE) && (proxyType1 == BOX_SHAPE_PROXYTYPE))
{ {
//return m_boxBoxCF; return m_boxBoxCF;
} }
if (btBroadphaseProxy::isConvex(proxyType0) && (proxyType1 == STATIC_PLANE_PROXYTYPE)) if (btBroadphaseProxy::isConvex(proxyType0) && (proxyType1 == STATIC_PLANE_PROXYTYPE))

9
src/BulletCollision/CollisionShapes/btOptimizedBvh.cpp
View File

@@ -803,10 +803,10 @@ void btOptimizedBvh::walkStacklessQuantizedTreeAgainstRay(btNodeOverlapCallback*
btVector3 rayDirection = (rayTarget-raySource); btVector3 rayDirection = (rayTarget-raySource);
rayDirection.normalize (); rayDirection.normalize ();
lambda_max = rayDirection.dot(rayTarget-raySource); lambda_max = rayDirection.dot(rayTarget-raySource);
///what about division by zero? ///what about division by zero? --> just set rayDirection[i] to 1.0
rayDirection[0] = btScalar(1.0) / rayDirection[0]; rayDirection[0] = rayDirection[0] == btScalar(0.0) ? btScalar(1.0) : btScalar(1.0) / rayDirection[0];
rayDirection[1] = btScalar(1.0) / rayDirection[1]; rayDirection[1] = rayDirection[1] == btScalar(0.0) ? btScalar(1.0) : btScalar(1.0) / rayDirection[1];
rayDirection[2] = btScalar(1.0) / rayDirection[2]; rayDirection[2] = rayDirection[2] == btScalar(0.0) ? btScalar(1.0) : btScalar(1.0) / rayDirection[2];
unsigned int sign[3] = { rayDirection[0] < 0.0, rayDirection[1] < 0.0, rayDirection[2] < 0.0}; unsigned int sign[3] = { rayDirection[0] < 0.0, rayDirection[1] < 0.0, rayDirection[2] < 0.0};
#endif #endif
@@ -1365,3 +1365,4 @@ m_bvhQuantization(self.m_bvhQuantization)
} }

1
src/BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp
View File

@@ -901,6 +901,7 @@ if(gjk_status==GJK::eStatus::Valid)
const btVector3 delta= results.witnesses[0]- const btVector3 delta= results.witnesses[0]-
results.witnesses[1]; results.witnesses[1];
const btScalar length= delta.length(); const btScalar length= delta.length();
if (length >= SIMD_EPSILON)
results.normal = delta/length; results.normal = delta/length;
return(-length); return(-length);
} }

4
src/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.cpp
View File

@@ -137,7 +137,10 @@ bool btSubsimplexConvexCast::calcTimeOfImpact(
result.m_fraction = lambda; result.m_fraction = lambda;
if (n.length2() >= (SIMD_EPSILON*SIMD_EPSILON))
result.m_normal = n.normalized(); result.m_normal = n.normalized();
else
result.m_normal = btVector3(btScalar(0.0), btScalar(0.0), btScalar(0.0));
//don't report time of impact for motion away from the contact normal (or causes minor penetration) //don't report time of impact for motion away from the contact normal (or causes minor penetration)
if (result.m_normal.dot(r)>=-result.m_allowedPenetration) if (result.m_normal.dot(r)>=-result.m_allowedPenetration)
@@ -151,3 +154,4 @@ bool btSubsimplexConvexCast::calcTimeOfImpact(

4
src/BulletSoftBody/btSoftBody.cpp
View File

@@ -1723,7 +1723,9 @@ void btSoftBody::updateNormals()
} }
for(i=0,ni=m_nodes.size();i<ni;++i) for(i=0,ni=m_nodes.size();i<ni;++i)
{ {
m_nodes[i].m_n.normalize(); btScalar len = m_nodes[i].m_n.length();
if (len>SIMD_EPSILON)
m_nodes[i].m_n /= len;
} }
} }