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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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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);