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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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13
src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
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@@ -20,6 +20,10 @@ subject to the following restrictions:
#if defined(DEBUG) || defined (_DEBUG)
#include <stdio.h> //for debug printf
#ifdef __SPU__
#include <spu_printf.h>
#define printf spu_printf
#endif //__SPU__
#endif
//must be above the machine epsilon
@@ -29,10 +33,7 @@ subject to the following restrictions:
int gNumDeepPenetrationChecks = 0;
int gNumGjkChecks = 0;
#ifdef __SPU__
#include <spu_printf.h>
#define printf spu_printf
#endif //__SPU__
btGjkPairDetector::btGjkPairDetector(btConvexShape* objectA,btConvexShape* objectB,btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver* penetrationDepthSolver)
:m_cachedSeparatingAxis(0.f,0.f,1.f),
@@ -202,7 +203,7 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result&
normalInB *= rlen; //normalize
btScalar s = btSqrt(squaredDistance);
ASSERT(s > btScalar(0.0));
btAssert(s > btScalar(0.0));
pointOnA -= m_cachedSeparatingAxis * (marginA / s);
pointOnB += m_cachedSeparatingAxis * (marginB / s);
distance = ((1.f/rlen) - margin);
@@ -236,7 +237,7 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result&
m_minkowskiA,m_minkowskiB,
localTransA,localTransB,
m_cachedSeparatingAxis, tmpPointOnA, tmpPointOnB,
debugDraw
debugDraw,input.m_stackAlloc
);
if (isValid2)