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Updated INSTALL description. This info should go also in Bullet User Manual and Online.

Browse Source 
Thanks to ejtttje http://code.google.com/p/bullet/issues/detail?id=248

Use GJK for GImpact triangle test
See http://bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=3687

More improvements in GJK degeneracy handling (using second EPA/GJK run)
Issue/discussion here http://code.google.com/p/bullet/issues/detail?id=250

CMake improvements
Thanks to ejtttje http://code.google.com/p/bullet/issues/detail?id=247

Added basic camera/wall detection for character demo
This commit is contained in:
erwin.coumans
2009-07-14 02:10:03 +00:00
parent c4ad354ac0
commit 60c107b7a7
20 changed files with 348 additions and 173 deletions
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66
src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
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@@ -310,28 +310,18 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result&
if (isValid2)
{
btVector3 tmpNormalInB = tmpPointOnB-tmpPointOnA;
btScalar lenSqr = tmpNormalInB.length2();
if (lenSqr > (SIMD_EPSILON*SIMD_EPSILON))
btScalar distance2 = -(tmpPointOnA-tmpPointOnB).length();
//only replace valid penetrations when the result is deeper (check)
if (!isValid || (distance2 < distance))
{
tmpNormalInB /= btSqrt(lenSqr);
btScalar distance2 = -(tmpPointOnA-tmpPointOnB).length();
//only replace valid penetrations when the result is deeper (check)
if (!isValid || (distance2 < distance))
{
distance = distance2;
pointOnA = tmpPointOnA;
pointOnB = tmpPointOnB;
normalInB = tmpNormalInB;
isValid = true;
m_lastUsedMethod = 3;
} else
{
}
} else
distance = distance2;
pointOnA = tmpPointOnA;
pointOnB = tmpPointOnB;
normalInB = m_cachedSeparatingAxis;
isValid = true;
m_lastUsedMethod = 3;
} else
{
//isValid = false;
m_lastUsedMethod = 4;
}
} else
@@ -342,29 +332,23 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result&
///thanks to Jacob.Langford for the reproduction case
///http://code.google.com/p/bullet/issues/detail?id=250
btVector3 tmpNormalInB = tmpPointOnA - tmpPointOnB;
btScalar lenSqr = tmpNormalInB.length2();
if (lenSqr > (SIMD_EPSILON*SIMD_EPSILON))
btScalar distance2 = (tmpPointOnA-tmpPointOnB).length()-margin;
//only replace valid distances when the distance is less
if (!isValid || (distance2 < distance))
{
tmpNormalInB /= btSqrt(lenSqr);
btScalar distance2 = (tmpPointOnA-tmpPointOnB).length()-margin;
//only replace valid distances when the distance is less
if (!isValid || (distance2 < distance))
{
distance = distance2;
pointOnA = tmpPointOnA;
pointOnB = tmpPointOnB;
pointOnA -= tmpNormalInB * marginA ;
pointOnB += tmpNormalInB * marginB ;
normalInB = tmpNormalInB;
isValid = true;
m_lastUsedMethod = 6;
} else
{
}
distance = distance2;
pointOnA = tmpPointOnA;
pointOnB = tmpPointOnB;
pointOnA -= m_cachedSeparatingAxis * marginA ;
pointOnB += m_cachedSeparatingAxis * marginB ;
normalInB = m_cachedSeparatingAxis;
isValid = true;
m_lastUsedMethod = 6;
} else
{
m_lastUsedMethod = 5;
}
m_lastUsedMethod = 5;
}
}