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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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17
src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h
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@@ -28,23 +28,17 @@ class btConvexPenetrationDepthSolver;
///ConvexConvexAlgorithm collision algorithm implements time of impact, convex closest points and penetration depth calculations.
class btConvexConvexAlgorithm : public btCollisionAlgorithm
{
//ConvexPenetrationDepthSolver* m_penetrationDepthSolver;
btVoronoiSimplexSolver m_simplexSolver;
btGjkPairDetector m_gjkPairDetector;
bool m_useEpa;
public:
bool m_ownManifold;
btPersistentManifold* m_manifoldPtr;
bool m_lowLevelOfDetail;
void checkPenetrationDepthSolver();
public:
btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1);
btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver);
virtual ~btConvexConvexAlgorithm();
@@ -62,9 +56,16 @@ public:
struct CreateFunc :public btCollisionAlgorithmCreateFunc
{
btConvexPenetrationDepthSolver* m_pdSolver;
btSimplexSolverInterface* m_simplexSolver;
bool m_ownsSolvers;
CreateFunc(btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver);
CreateFunc();
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
{
return new btConvexConvexAlgorithm(ci.m_manifold,ci,body0,body1);
return new btConvexConvexAlgorithm(ci.m_manifold,ci,body0,body1,m_simplexSolver,m_pdSolver);
}
};