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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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26
src/BulletCollision/CollisionShapes/btConvexPolyhedron.cpp
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@@ -274,23 +274,29 @@ void btConvexPolyhedron::initialize()
#endif
}
void btConvexPolyhedron::project(const btTransform& trans, const btVector3& dir, btScalar& min, btScalar& max) const
void btConvexPolyhedron::project(const btTransform& trans, const btVector3& dir, btScalar& minProj, btScalar& maxProj, btVector3& witnesPtMin,btVector3& witnesPtMax) const
{
min = FLT_MAX;
max = -FLT_MAX;
minProj = FLT_MAX;
maxProj = -FLT_MAX;
int numVerts = m_vertices.size();
for(int i=0;i<numVerts;i++)
{
btVector3 pt = trans * m_vertices[i];
btScalar dp = pt.dot(dir);
if(dp < min) min = dp;
if(dp > max) max = dp;
if(dp < minProj)
{
minProj = dp;
witnesPtMin = pt;
}
if(dp > maxProj)
{
maxProj = dp;
witnesPtMax = pt;
}
}
if(min>max)
if(minProj>maxProj)
{
btScalar tmp = min;
min = max;
max = tmp;
btSwap(minProj,maxProj);
btSwap(witnesPtMin,witnesPtMax);
}
}