Add the old Bullet 2.x obsolete demos, and CMake buildsystem files, and gradually move them to newer Bullet 3.x structure
Use statically linked freeglut, instead of dynamic glut for the obsolete Bullet 2.x demos Add the 'reset' method to b3GpuDynamicsWorld, and use it in the BasicGpuDemo (pretty slow in debug mode, use release mode) Don't crash in btCollisionWorld, if there is no collision dispatcher
This commit is contained in:
erwin coumans
286
src/BulletCollision/CMakeLists.txt
Normal file
286
src/BulletCollision/CMakeLists.txt
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@@ -0,0 +1,286 @@
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INCLUDE_DIRECTORIES( ${BULLET_PHYSICS_SOURCE_DIR}/src )
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SET(BulletCollision_SRCS
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BroadphaseCollision/btAxisSweep3.cpp
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BroadphaseCollision/btBroadphaseProxy.cpp
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BroadphaseCollision/btCollisionAlgorithm.cpp
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BroadphaseCollision/btDbvt.cpp
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BroadphaseCollision/btDbvtBroadphase.cpp
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BroadphaseCollision/btDispatcher.cpp
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BroadphaseCollision/btMultiSapBroadphase.cpp
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BroadphaseCollision/btOverlappingPairCache.cpp
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BroadphaseCollision/btQuantizedBvh.cpp
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BroadphaseCollision/btSimpleBroadphase.cpp
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CollisionDispatch/btActivatingCollisionAlgorithm.cpp
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CollisionDispatch/btBoxBoxCollisionAlgorithm.cpp
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CollisionDispatch/btBox2dBox2dCollisionAlgorithm.cpp
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CollisionDispatch/btBoxBoxDetector.cpp
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CollisionDispatch/btCollisionDispatcher.cpp
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CollisionDispatch/btCollisionObject.cpp
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CollisionDispatch/btCollisionWorld.cpp
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CollisionDispatch/btCompoundCollisionAlgorithm.cpp
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CollisionDispatch/btCompoundCompoundCollisionAlgorithm.cpp
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CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp
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CollisionDispatch/btConvexConvexAlgorithm.cpp
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CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp
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CollisionDispatch/btConvex2dConvex2dAlgorithm.cpp
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CollisionDispatch/btDefaultCollisionConfiguration.cpp
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CollisionDispatch/btEmptyCollisionAlgorithm.cpp
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CollisionDispatch/btGhostObject.cpp
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CollisionDispatch/btHashedSimplePairCache.cpp
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CollisionDispatch/btInternalEdgeUtility.cpp
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CollisionDispatch/btInternalEdgeUtility.h
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CollisionDispatch/btManifoldResult.cpp
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CollisionDispatch/btSimulationIslandManager.cpp
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CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp
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CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp
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CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp
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CollisionDispatch/btUnionFind.cpp
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CollisionDispatch/SphereTriangleDetector.cpp
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CollisionShapes/btBoxShape.cpp
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CollisionShapes/btBox2dShape.cpp
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CollisionShapes/btBvhTriangleMeshShape.cpp
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CollisionShapes/btCapsuleShape.cpp
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CollisionShapes/btCollisionShape.cpp
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CollisionShapes/btCompoundShape.cpp
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CollisionShapes/btConcaveShape.cpp
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CollisionShapes/btConeShape.cpp
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CollisionShapes/btConvexHullShape.cpp
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CollisionShapes/btConvexInternalShape.cpp
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CollisionShapes/btConvexPointCloudShape.cpp
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CollisionShapes/btConvexPolyhedron.cpp
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CollisionShapes/btConvexShape.cpp
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CollisionShapes/btConvex2dShape.cpp
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CollisionShapes/btConvexTriangleMeshShape.cpp
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CollisionShapes/btCylinderShape.cpp
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CollisionShapes/btEmptyShape.cpp
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CollisionShapes/btHeightfieldTerrainShape.cpp
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CollisionShapes/btMinkowskiSumShape.cpp
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CollisionShapes/btMultimaterialTriangleMeshShape.cpp
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CollisionShapes/btMultiSphereShape.cpp
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CollisionShapes/btOptimizedBvh.cpp
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CollisionShapes/btPolyhedralConvexShape.cpp
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CollisionShapes/btScaledBvhTriangleMeshShape.cpp
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CollisionShapes/btShapeHull.cpp
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CollisionShapes/btSphereShape.cpp
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CollisionShapes/btStaticPlaneShape.cpp
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CollisionShapes/btStridingMeshInterface.cpp
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CollisionShapes/btTetrahedronShape.cpp
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CollisionShapes/btTriangleBuffer.cpp
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CollisionShapes/btTriangleCallback.cpp
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CollisionShapes/btTriangleIndexVertexArray.cpp
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CollisionShapes/btTriangleIndexVertexMaterialArray.cpp
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CollisionShapes/btTriangleMesh.cpp
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CollisionShapes/btTriangleMeshShape.cpp
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CollisionShapes/btUniformScalingShape.cpp
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Gimpact/btContactProcessing.cpp
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Gimpact/btGenericPoolAllocator.cpp
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Gimpact/btGImpactBvh.cpp
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Gimpact/btGImpactCollisionAlgorithm.cpp
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Gimpact/btGImpactQuantizedBvh.cpp
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Gimpact/btGImpactShape.cpp
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Gimpact/btTriangleShapeEx.cpp
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Gimpact/gim_box_set.cpp
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Gimpact/gim_contact.cpp
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Gimpact/gim_memory.cpp
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Gimpact/gim_tri_collision.cpp
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NarrowPhaseCollision/btContinuousConvexCollision.cpp
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NarrowPhaseCollision/btConvexCast.cpp
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NarrowPhaseCollision/btGjkConvexCast.cpp
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NarrowPhaseCollision/btGjkEpa2.cpp
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NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp
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NarrowPhaseCollision/btGjkPairDetector.cpp
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NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp
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NarrowPhaseCollision/btPersistentManifold.cpp
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NarrowPhaseCollision/btRaycastCallback.cpp
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NarrowPhaseCollision/btSubSimplexConvexCast.cpp
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NarrowPhaseCollision/btVoronoiSimplexSolver.cpp
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NarrowPhaseCollision/btPolyhedralContactClipping.cpp
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)
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SET(Root_HDRS
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../btBulletCollisionCommon.h
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)
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SET(BroadphaseCollision_HDRS
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BroadphaseCollision/btAxisSweep3.h
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BroadphaseCollision/btBroadphaseInterface.h
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BroadphaseCollision/btBroadphaseProxy.h
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BroadphaseCollision/btCollisionAlgorithm.h
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BroadphaseCollision/btDbvt.h
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BroadphaseCollision/btDbvtBroadphase.h
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BroadphaseCollision/btDispatcher.h
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BroadphaseCollision/btMultiSapBroadphase.h
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BroadphaseCollision/btOverlappingPairCache.h
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BroadphaseCollision/btOverlappingPairCallback.h
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BroadphaseCollision/btQuantizedBvh.h
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BroadphaseCollision/btSimpleBroadphase.h
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)
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SET(CollisionDispatch_HDRS
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CollisionDispatch/btActivatingCollisionAlgorithm.h
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CollisionDispatch/btBoxBoxCollisionAlgorithm.h
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CollisionDispatch/btBox2dBox2dCollisionAlgorithm.h
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CollisionDispatch/btBoxBoxDetector.h
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CollisionDispatch/btCollisionConfiguration.h
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CollisionDispatch/btCollisionCreateFunc.h
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CollisionDispatch/btCollisionDispatcher.h
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CollisionDispatch/btCollisionObject.h
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CollisionDispatch/btCollisionObjectWrapper.h
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CollisionDispatch/btCollisionWorld.h
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CollisionDispatch/btCompoundCollisionAlgorithm.h
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CollisionDispatch/btCompoundCompoundCollisionAlgorithm.h
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CollisionDispatch/btConvexConcaveCollisionAlgorithm.h
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CollisionDispatch/btConvexConvexAlgorithm.h
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CollisionDispatch/btConvex2dConvex2dAlgorithm.h
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CollisionDispatch/btConvexPlaneCollisionAlgorithm.h
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CollisionDispatch/btDefaultCollisionConfiguration.h
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CollisionDispatch/btEmptyCollisionAlgorithm.h
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CollisionDispatch/btGhostObject.h
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CollisionDispatch/btHashedSimplePairCache.h
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CollisionDispatch/btManifoldResult.h
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CollisionDispatch/btSimulationIslandManager.h
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CollisionDispatch/btSphereBoxCollisionAlgorithm.h
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CollisionDispatch/btSphereSphereCollisionAlgorithm.h
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CollisionDispatch/btSphereTriangleCollisionAlgorithm.h
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CollisionDispatch/btUnionFind.h
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CollisionDispatch/SphereTriangleDetector.h
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)
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SET(CollisionShapes_HDRS
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CollisionShapes/btBoxShape.h
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CollisionShapes/btBox2dShape.h
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CollisionShapes/btBvhTriangleMeshShape.h
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CollisionShapes/btCapsuleShape.h
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CollisionShapes/btCollisionMargin.h
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CollisionShapes/btCollisionShape.h
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CollisionShapes/btCompoundShape.h
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CollisionShapes/btConcaveShape.h
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CollisionShapes/btConeShape.h
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CollisionShapes/btConvexHullShape.h
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CollisionShapes/btConvexInternalShape.h
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CollisionShapes/btConvexPointCloudShape.h
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CollisionShapes/btConvexPolyhedron.h
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CollisionShapes/btConvexShape.h
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CollisionShapes/btConvex2dShape.h
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CollisionShapes/btConvexTriangleMeshShape.h
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CollisionShapes/btCylinderShape.h
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CollisionShapes/btEmptyShape.h
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CollisionShapes/btHeightfieldTerrainShape.h
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CollisionShapes/btMaterial.h
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CollisionShapes/btMinkowskiSumShape.h
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CollisionShapes/btMultimaterialTriangleMeshShape.h
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CollisionShapes/btMultiSphereShape.h
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CollisionShapes/btOptimizedBvh.h
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CollisionShapes/btPolyhedralConvexShape.h
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CollisionShapes/btScaledBvhTriangleMeshShape.h
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CollisionShapes/btShapeHull.h
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CollisionShapes/btSphereShape.h
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CollisionShapes/btStaticPlaneShape.h
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CollisionShapes/btStridingMeshInterface.h
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CollisionShapes/btTetrahedronShape.h
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CollisionShapes/btTriangleBuffer.h
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CollisionShapes/btTriangleCallback.h
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CollisionShapes/btTriangleIndexVertexArray.h
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CollisionShapes/btTriangleIndexVertexMaterialArray.h
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CollisionShapes/btTriangleInfoMap.h
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CollisionShapes/btTriangleMesh.h
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CollisionShapes/btTriangleMeshShape.h
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CollisionShapes/btTriangleShape.h
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CollisionShapes/btUniformScalingShape.h
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)
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SET(Gimpact_HDRS
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Gimpact/btBoxCollision.h
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Gimpact/btClipPolygon.h
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Gimpact/btContactProcessing.h
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Gimpact/btGenericPoolAllocator.h
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Gimpact/btGeometryOperations.h
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Gimpact/btGImpactBvh.h
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Gimpact/btGImpactCollisionAlgorithm.h
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Gimpact/btGImpactMassUtil.h
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Gimpact/btGImpactQuantizedBvh.h
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Gimpact/btGImpactShape.h
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Gimpact/btQuantization.h
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Gimpact/btTriangleShapeEx.h
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Gimpact/gim_array.h
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Gimpact/gim_basic_geometry_operations.h
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Gimpact/gim_bitset.h
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Gimpact/gim_box_collision.h
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Gimpact/gim_box_set.h
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Gimpact/gim_clip_polygon.h
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Gimpact/gim_contact.h
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Gimpact/gim_geom_types.h
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Gimpact/gim_geometry.h
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Gimpact/gim_hash_table.h
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Gimpact/gim_linear_math.h
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Gimpact/gim_math.h
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Gimpact/gim_memory.h
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Gimpact/gim_radixsort.h
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Gimpact/gim_tri_collision.h
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)
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SET(NarrowPhaseCollision_HDRS
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NarrowPhaseCollision/btContinuousConvexCollision.h
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NarrowPhaseCollision/btConvexCast.h
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NarrowPhaseCollision/btConvexPenetrationDepthSolver.h
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NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h
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NarrowPhaseCollision/btGjkConvexCast.h
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NarrowPhaseCollision/btGjkEpa2.h
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NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h
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NarrowPhaseCollision/btGjkPairDetector.h
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NarrowPhaseCollision/btManifoldPoint.h
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NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h
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NarrowPhaseCollision/btPersistentManifold.h
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NarrowPhaseCollision/btPointCollector.h
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NarrowPhaseCollision/btRaycastCallback.h
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NarrowPhaseCollision/btSimplexSolverInterface.h
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NarrowPhaseCollision/btSubSimplexConvexCast.h
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NarrowPhaseCollision/btVoronoiSimplexSolver.h
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NarrowPhaseCollision/btPolyhedralContactClipping.h
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)
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SET(BulletCollision_HDRS
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${Root_HDRS}
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${BroadphaseCollision_HDRS}
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${CollisionDispatch_HDRS}
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${CollisionShapes_HDRS}
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${Gimpact_HDRS}
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${NarrowPhaseCollision_HDRS}
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)
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ADD_LIBRARY(BulletCollision ${BulletCollision_SRCS} ${BulletCollision_HDRS})
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SET_TARGET_PROPERTIES(BulletCollision PROPERTIES VERSION ${BULLET_VERSION})
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SET_TARGET_PROPERTIES(BulletCollision PROPERTIES SOVERSION ${BULLET_VERSION})
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IF (BUILD_SHARED_LIBS)
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TARGET_LINK_LIBRARIES(BulletCollision LinearMath)
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ENDIF (BUILD_SHARED_LIBS)
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IF (INSTALL_LIBS)
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IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
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#INSTALL of other files requires CMake 2.6
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IF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
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IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
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INSTALL(TARGETS BulletCollision DESTINATION .)
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ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
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INSTALL(TARGETS BulletCollision RUNTIME DESTINATION bin
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LIBRARY DESTINATION lib${LIB_SUFFIX}
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ARCHIVE DESTINATION lib${LIB_SUFFIX})
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INSTALL(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
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DESTINATION ${INCLUDE_INSTALL_DIR} FILES_MATCHING PATTERN "*.h" PATTERN ".svn" EXCLUDE PATTERN "CMakeFiles" EXCLUDE)
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INSTALL(FILES ../btBulletCollisionCommon.h
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DESTINATION ${INCLUDE_INSTALL_DIR}/BulletCollision)
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ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
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ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
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IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
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SET_TARGET_PROPERTIES(BulletCollision PROPERTIES FRAMEWORK true)
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SET_TARGET_PROPERTIES(BulletCollision PROPERTIES PUBLIC_HEADER "${Root_HDRS}")
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# Have to list out sub-directories manually:
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SET_PROPERTY(SOURCE ${BroadphaseCollision_HDRS} PROPERTY MACOSX_PACKAGE_LOCATION Headers/BroadphaseCollision)
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SET_PROPERTY(SOURCE ${CollisionDispatch_HDRS} PROPERTY MACOSX_PACKAGE_LOCATION Headers/CollisionDispatch)
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SET_PROPERTY(SOURCE ${CollisionShapes_HDRS} PROPERTY MACOSX_PACKAGE_LOCATION Headers/CollisionShapes)
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SET_PROPERTY(SOURCE ${Gimpact_HDRS} PROPERTY MACOSX_PACKAGE_LOCATION Headers/Gimpact)
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SET_PROPERTY(SOURCE ${NarrowPhaseCollision_HDRS} PROPERTY MACOSX_PACKAGE_LOCATION Headers/NarrowPhaseCollision)
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ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
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ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
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ENDIF (INSTALL_LIBS)
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@@ -1424,19 +1424,22 @@ void btCollisionWorld::debugDrawWorld()
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{
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if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawContactPoints)
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{
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int numManifolds = getDispatcher()->getNumManifolds();
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btVector3 color(1,1,0);
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for (int i=0;i<numManifolds;i++)
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if (getDispatcher())
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{
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btPersistentManifold* contactManifold = getDispatcher()->getManifoldByIndexInternal(i);
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//btCollisionObject* obA = static_cast<btCollisionObject*>(contactManifold->getBody0());
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//btCollisionObject* obB = static_cast<btCollisionObject*>(contactManifold->getBody1());
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int numContacts = contactManifold->getNumContacts();
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for (int j=0;j<numContacts;j++)
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int numManifolds = getDispatcher()->getNumManifolds();
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btVector3 color(1,1,0);
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for (int i=0;i<numManifolds;i++)
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{
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btManifoldPoint& cp = contactManifold->getContactPoint(j);
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getDebugDrawer()->drawContactPoint(cp.m_positionWorldOnB,cp.m_normalWorldOnB,cp.getDistance(),cp.getLifeTime(),color);
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btPersistentManifold* contactManifold = getDispatcher()->getManifoldByIndexInternal(i);
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//btCollisionObject* obA = static_cast<btCollisionObject*>(contactManifold->getBody0());
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//btCollisionObject* obB = static_cast<btCollisionObject*>(contactManifold->getBody1());
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int numContacts = contactManifold->getNumContacts();
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for (int j=0;j<numContacts;j++)
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{
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btManifoldPoint& cp = contactManifold->getContactPoint(j);
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getDebugDrawer()->drawContactPoint(cp.m_positionWorldOnB,cp.m_normalWorldOnB,cp.getDistance(),cp.getLifeTime(),color);
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}
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}
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}
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}
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Reference in New Issue
Block a user