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perform GrahamScanConvexHull2D around an arbitrary oriented 2D plane in 3D, to fix some convex hull face merging problems

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add compound shape support to BulletXmlWorldImporter and fix some compile issue under Debian (hopefully)
object picking change in the demos: create a ball-socket picking constraint when holding shift while mouse dragging, otherwise a fixed (6dof) constraint
add assert in constraint solver, when both objects have their inertia tensor rows set to zero
btPolyhedralContactClipping: add edge-edge contact point in  findSeparatingAxis (similar to the default GJK case)
This commit is contained in:
erwin.coumans
2012-09-28 07:14:48 +00:00
parent 837e5cb5e0
commit 60bf599246
24 changed files with 385 additions and 153 deletions
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24
Demos/BulletXmlImportDemo/BulletXmlImportDemo.cpp
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@@ -28,15 +28,24 @@ subject to the following restrictions:
#include <stdio.h> //printf debugging
#include "GLDebugDrawer.h"
GLDebugDrawer gDebugDrawer;
void BulletXmlImportDemo::initPhysics()
{
setTexturing(true);
setTexturing(true);
setShadows(true);
setCameraDistance(btScalar(30.));
setupEmptyDynamicsWorld();
m_dynamicsWorld->setDebugDrawer(&gDebugDrawer);
btBulletXmlWorldImporter* importer = new btBulletXmlWorldImporter(m_dynamicsWorld);
importer->loadFile("bullet_basic.xml");
// importer->loadFile("bulletser.xml");
@@ -54,6 +63,8 @@ void BulletXmlImportDemo::clientMoveAndDisplay()
///step the simulation
if (m_dynamicsWorld)
{
m_dynamicsWorld->stepSimulation(ms / 1000000.f);
m_dynamicsWorld->debugDrawWorld();
}
@@ -90,6 +101,7 @@ void BulletXmlImportDemo::setupEmptyDynamicsWorld()
///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
btGImpactCollisionAlgorithm::registerAlgorithm(m_dispatcher);
m_broadphase = new btDbvtBroadphase();
@@ -101,7 +113,7 @@ void BulletXmlImportDemo::setupEmptyDynamicsWorld()
//btGImpactCollisionAlgorithm::registerAlgorithm((btCollisionDispatcher*)m_dynamicsWorld->getDispatcher());
m_dynamicsWorld->setGravity(btVector3(0,-10,0));
}
@@ -115,7 +127,11 @@ BulletXmlImportDemo::~BulletXmlImportDemo()
exitPhysics();
}
void BulletXmlImportDemo::clientResetScene()
{
exitPhysics();
initPhysics();
}
void BulletXmlImportDemo::exitPhysics()