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ASSERT -> btAssert

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Added btStackAlloc to Bullet (right now only used by btGjkEpa)
removed default constructors of btCollisionWorld/btDiscreteDynamicsWorld, to reduce link-time dependencies
This commit is contained in:
ejcoumans
2006-11-29 01:52:09 +00:00
parent 43ab3c67c4
commit 6738ed329d
41 changed files with 206 additions and 269 deletions
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12
Demos/BspDemo/BspDemo.cpp
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@@ -133,7 +133,17 @@ void BspDemo::initPhysics(char* bspfilename)
m_forwardAxis = 1;
///Setup a Physics Simulation Environment
m_dynamicsWorld = new btDiscreteDynamicsWorld();
btCollisionShape* groundShape = new btBoxShape(btVector3(50,3,50));
btCollisionDispatcher* dispatcher = new btCollisionDispatcher();
btVector3 worldMin(-1000,-1000,-1000);
btVector3 worldMax(1000,1000,1000);
btOverlappingPairCache* pairCache = new btAxisSweep3(worldMin,worldMax);
//btOverlappingPairCache* broadphase = new btSimpleBroadphase();
btConstraintSolver* constraintSolver = new btSequentialImpulseConstraintSolver();
//ConstraintSolver* solver = new OdeConstraintSolver;
m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver);
m_dynamicsWorld->setGravity(-m_cameraUp * 10);
m_dynamicsWorld->setDebugDrawer(&debugDrawer);

2
Demos/ColladaDemo/ColladaConverter.cpp
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@@ -720,7 +720,7 @@ bool ColladaConverter::saveAs(const char* filename)
{
for (int i=0;i<m_numObjects;i++)
{
assert(m_colladadomNodes[i]);
btAssert(m_colladadomNodes[i]);
if (!m_colladadomNodes[i]->getTranslate_array().getCount())
{
domTranslate* transl = (domTranslate*) m_colladadomNodes[i]->createAndPlace("translate");

9
Demos/ColladaDemo/ColladaDemo.cpp
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@@ -160,7 +160,14 @@ void ColladaDemo::initPhysics(const char* filename)
m_cameraUp = btVector3(0,0,1);
m_forwardAxis = 1;
m_dynamicsWorld = new btDiscreteDynamicsWorld();
btCollisionShape* groundShape = new btBoxShape(btVector3(50,3,50));
btCollisionDispatcher* dispatcher = new btCollisionDispatcher();
btVector3 worldMin(-1000,-1000,-1000);
btVector3 worldMax(1000,1000,1000);
btOverlappingPairCache* pairCache = new btAxisSweep3(worldMin,worldMax);
btConstraintSolver* constraintSolver = new btSequentialImpulseConstraintSolver();
m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver);
//m_dynamicsWorld = new btSimpleDynamicsWorld();
m_dynamicsWorld->setDebugDrawer(&debugDrawer);

11
Demos/ConcaveDemo/ConcavePhysicsDemo.cpp
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@@ -151,11 +151,14 @@ void ConcaveDemo::initPhysics()
btCollisionShape* trimeshShape = new btBvhTriangleMeshShape(indexVertexArrays);
//btConstraintSolver* solver = new btSequentialImpulseConstraintSolver;
//btCollisionDispatcher* dispatcher = new btCollisionDispatcher();
//btOverlappingPairCache* broadphase = new btSimpleBroadphase();
m_dynamicsWorld = new btDiscreteDynamicsWorld();
btCollisionShape* groundShape = new btBoxShape(btVector3(50,3,50));
btCollisionDispatcher* dispatcher = new btCollisionDispatcher();
btVector3 worldMin(-1000,-1000,-1000);
btVector3 worldMax(1000,1000,1000);
btOverlappingPairCache* pairCache = new btAxisSweep3(worldMin,worldMax);
btConstraintSolver* constraintSolver = new btSequentialImpulseConstraintSolver();
m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver);
float mass = 0.f;
btTransform startTransform;

14
Demos/ConstraintDemo/ConstraintDemo.cpp
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@@ -75,12 +75,16 @@ void drawLimit()
void ConstraintDemo::initPhysics()
{
//ConstraintSolver* solver = new btSequentialImpulseConstraintSolver;
//ConstraintSolver* solver = new OdeConstraintSolver;
//btCollisionDispatcher* dispatcher = new btCollisionDispatcher();
btCollisionShape* groundShape = new btBoxShape(btVector3(50,3,50));
btCollisionDispatcher* dispatcher = new btCollisionDispatcher();
btVector3 worldMin(-1000,-1000,-1000);
btVector3 worldMax(1000,1000,1000);
btOverlappingPairCache* pairCache = new btAxisSweep3(worldMin,worldMax);
//btOverlappingPairCache* broadphase = new btSimpleBroadphase();
m_dynamicsWorld = new btDiscreteDynamicsWorld();
btConstraintSolver* constraintSolver = new btSequentialImpulseConstraintSolver();
//ConstraintSolver* solver = new OdeConstraintSolver;
m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver);
m_dynamicsWorld->setDebugDrawer(&debugDrawer);
btCollisionShape* shape = new btBoxShape(btVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS));

6
Demos/EPAPenDepthDemo/PenetrationTestBullet.cpp
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@@ -32,6 +32,8 @@
#include "BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
#include "LinearMath/btStackAlloc.h"
//We can use the Bullet EPA or sampling penetration depth solver, but comparison might be useful
//#define COMPARE_WITH_SOLID35_AND_OTHER_EPA 1
#ifdef COMPARE_WITH_SOLID35_AND_OTHER_EPA
@@ -279,6 +281,9 @@ static float gDepth;
}
};
//2 Mb by default, could be made smaller
btStackAlloc gStackAlloc(1024*1024*2);
static bool TestEPA(const MyConvex& hull0, const MyConvex& hull1)
{
static btSimplexSolverInterface simplexSolver;
@@ -323,6 +328,7 @@ static bool TestEPA(const MyConvex& hull0, const MyConvex& hull1)
btDiscreteCollisionDetectorInterface::ClosestPointInput input;
input.m_transformA = hull0.mTransform;
input.m_transformB = hull1.mTransform;
input.m_stackAlloc = &gStackAlloc;
MyResult output;
GJK.getClosestPoints(input, output, 0);

5
Demos/MovingConcaveDemo/ConcavePhysicsDemo.cpp
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@@ -1634,7 +1634,8 @@ void ConcaveDemo::initPhysics()
//btOverlappingPairCache* broadphase = new btSimpleBroadphase();
btOverlappingPairCache* broadphase = new btSimpleBroadphase();
m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,broadphase);
btConstraintSolver* constraintSolver = new btSequentialImpulseConstraintSolver();
m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,broadphase,constraintSolver);
m_gimpactCollisionCreateFunc = new btConcaveConcaveCollisionAlgorithm::CreateFunc;
dispatcher->registerCollisionCreateFunc(GIMPACT_SHAPE_PROXYTYPE,GIMPACT_SHAPE_PROXYTYPE,m_gimpactCollisionCreateFunc);
@@ -1865,7 +1866,7 @@ void ConcaveDemo::clientMoveAndDisplay()
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
float dt = m_clock.getTimeMilliseconds() * 0.001f;
float dt = float(m_clock.getTimeMicroseconds()) * 0.000001f;
m_clock.reset();
m_dynamicsWorld->stepSimulation(dt);

4
Demos/UserCollisionAlgorithm/UserCollisionAlgorithm.cpp
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@@ -110,8 +110,8 @@ void UserCollisionAlgorithm::initPhysics()
btOverlappingPairCache* broadphase = new btAxisSweep3(-maxAabb,maxAabb);//SimpleBroadphase();
dispatcher->registerCollisionCreateFunc(GIMPACT_SHAPE_PROXYTYPE,GIMPACT_SHAPE_PROXYTYPE,new btSphereSphereCollisionAlgorithm::CreateFunc);
m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,broadphase);
btConstraintSolver* constraintSolver = new btSequentialImpulseConstraintSolver();
m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,broadphase,constraintSolver);
float mass = 0.f;
btTransform startTransform;

7
Demos/VehicleDemo/VehicleDemo.cpp
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@@ -109,7 +109,12 @@ void VehicleDemo::setupPhysics()
#endif
btCollisionShape* groundShape = new btBoxShape(btVector3(50,3,50));
m_dynamicsWorld = new btDiscreteDynamicsWorld();
btCollisionDispatcher* dispatcher = new btCollisionDispatcher();
btVector3 worldMin(-1000,-1000,-1000);
btVector3 worldMax(1000,1000,1000);
btOverlappingPairCache* pairCache = new btAxisSweep3(worldMin,worldMax);
btConstraintSolver* constraintSolver = new btSequentialImpulseConstraintSolver();
m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver);
#ifdef FORCE_ZAXIS_UP
m_dynamicsWorld->setGravity(btVector3(0,0,-10));
#endif