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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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63
src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp
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@@ -61,37 +61,28 @@ subject to the following restrictions:
#endif //USE_HULL
bool gUseEpa = true;
btConvexConvexAlgorithm::CreateFunc::CreateFunc()
{
m_ownsSolvers = true;
m_simplexSolver = new btVoronoiSimplexSolver();
m_pdSolver = new btGjkEpaPenetrationDepthSolver;
}
#ifdef WIN32
void DrawRasterizerLine(const float* from,const float* to,int color);
#endif
btConvexConvexAlgorithm::CreateFunc::CreateFunc(btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver)
{
m_ownsSolvers = false;
m_simplexSolver = simplexSolver;
m_pdSolver = pdSolver;
}
//#define PROCESS_SINGLE_CONTACT
#ifdef WIN32
bool gForceBoxBox = false;//false;//true;
#else
bool gForceBoxBox = false;//false;//true;
#endif
bool gBoxBoxUseGjk = true;//true;//false;
bool gDisableConvexCollision = false;
btConvexConvexAlgorithm::btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1)
btConvexConvexAlgorithm::btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver)
: btCollisionAlgorithm(ci),
m_gjkPairDetector(0,0,&m_simplexSolver,0),
m_useEpa(!gUseEpa),
m_gjkPairDetector(0,0,simplexSolver,pdSolver),
m_ownManifold (false),
m_manifoldPtr(mf),
m_lowLevelOfDetail(false)
{
checkPenetrationDepthSolver();
}
@@ -115,27 +106,6 @@ void btConvexConvexAlgorithm ::setLowLevelOfDetail(bool useLowLevel)
static btGjkEpaPenetrationDepthSolver gEpaPenetrationDepthSolver;
static btMinkowskiPenetrationDepthSolver gPenetrationDepthSolver;
void btConvexConvexAlgorithm::checkPenetrationDepthSolver()
{
if (m_useEpa != gUseEpa)
{
m_useEpa = gUseEpa;
if (m_useEpa)
{
m_gjkPairDetector.setPenetrationDepthSolver(&gEpaPenetrationDepthSolver);
} else
{
m_gjkPairDetector.setPenetrationDepthSolver(&gPenetrationDepthSolver);
}
}
}
//
// Convex-Convex collision algorithm
@@ -164,7 +134,6 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
resultOut->addContactPoint(results.normal,results.witnesses[1],-results.depth);
}
#else
checkPenetrationDepthSolver();
btConvexShape* min0 = static_cast<btConvexShape*>(body0->getCollisionShape());
btConvexShape* min1 = static_cast<btConvexShape*>(body1->getCollisionShape());
@@ -176,7 +145,8 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
m_gjkPairDetector.setMinkowskiB(min1);
input.m_maximumDistanceSquared = min0->getMargin() + min1->getMargin() + m_manifoldPtr->getContactBreakingThreshold();
input.m_maximumDistanceSquared*= input.m_maximumDistanceSquared;
input.m_stackAlloc = dispatchInfo.m_stackAllocator;
// input.m_maximumDistanceSquared = 1e30f;
input.m_transformA = body0->getWorldTransform();
@@ -209,7 +179,6 @@ float btConvexConvexAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btC
if (disableCcd)
return 1.f;
checkPenetrationDepthSolver();
//An adhoc way of testing the Continuous Collision Detection algorithms
//One object is approximated as a sphere, to simplify things