pass on rigid body name in btBulletWorldImporter, to make it easier to bind physics and graphics objects.
moved some obsolete files to Extras/obsolete, and removed freeglut moved ColladaDemo to Dynamica Maya plugin repository (it has COLLADA_DOM and libxml), see http://dynamica.googlecode.com Added new .bullet file Minor update in Bullet_User_Manual.pdf, removed obsolete Bullet_Faq.pdf
This commit is contained in:
erwin.coumans
42
Extras/obsolete/CSharpWrapper/AssemblyInfo.cpp
Normal file
42
Extras/obsolete/CSharpWrapper/AssemblyInfo.cpp
Normal file
@@ -0,0 +1,42 @@
|
||||
//#include "stdafx.h"
|
||||
|
||||
using namespace System;
|
||||
using namespace System::Reflection;
|
||||
using namespace System::Runtime::CompilerServices;
|
||||
using namespace System::Runtime::InteropServices;
|
||||
using namespace System::Security::Permissions;
|
||||
|
||||
//
|
||||
// General Information about an assembly is controlled through the following
|
||||
// set of attributes. Change these attribute values to modify the information
|
||||
// associated with an assembly.
|
||||
//
|
||||
[assembly:AssemblyTitleAttribute("Scea.BulletPhysics")];
|
||||
[assembly:AssemblyDescriptionAttribute("managed bullet physics engine C-API library ")];
|
||||
[assembly:AssemblyConfigurationAttribute("")];
|
||||
[assembly:AssemblyCompanyAttribute("")];
|
||||
[assembly:AssemblyProductAttribute("Scea.BulletPhysics")];
|
||||
[assembly:AssemblyCopyrightAttribute("Copyright (c) 2008")];
|
||||
[assembly:AssemblyTrademarkAttribute("")];
|
||||
[assembly:AssemblyCultureAttribute("")];
|
||||
|
||||
//
|
||||
// Version information for an assembly consists of the following four values:
|
||||
//
|
||||
// Major Version
|
||||
// Minor Version
|
||||
// Build Number
|
||||
// Revision
|
||||
//
|
||||
// You can specify all the value or you can default the Revision and Build Numbers
|
||||
// by using the '*' as shown below:
|
||||
|
||||
[assembly:AssemblyVersionAttribute("1.0.*")];
|
||||
|
||||
[assembly:ComVisible(false)];
|
||||
|
||||
[assembly:CLSCompliantAttribute(true)];
|
||||
|
||||
[assembly:Guid("c3dfa120-9f17-11dd-ad8b-0800200c9a66")]
|
||||
|
||||
[assembly:SecurityPermission(SecurityAction::RequestMinimum, UnmanagedCode = true)];
|
||||
198
Extras/obsolete/CSharpWrapper/BulletPhysics.sln
Normal file
198
Extras/obsolete/CSharpWrapper/BulletPhysics.sln
Normal file
@@ -0,0 +1,198 @@
|
||||
|
||||
Microsoft Visual Studio Solution File, Format Version 9.00
|
||||
# Visual Studio 2005
|
||||
Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "BulletPhysics", "BulletPhysics.vcproj", "{5EE4C1C4-4C81-46BB-A1C4-416F74BF9239}"
|
||||
ProjectSection(ProjectDependencies) = postProject
|
||||
{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE} = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
|
||||
{61BD1097-CF2E-B296-DAA9-73A6FE135319} = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
|
||||
{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A} = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
|
||||
EndProjectSection
|
||||
EndProject
|
||||
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "BulletPhysicsapp", "BulletPhysicsapp.csproj", "{11E65486-3C29-4D36-B488-4E05D9E4B46B}"
|
||||
ProjectSection(ProjectDependencies) = postProject
|
||||
{5EE4C1C4-4C81-46BB-A1C4-416F74BF9239} = {5EE4C1C4-4C81-46BB-A1C4-416F74BF9239}
|
||||
EndProjectSection
|
||||
EndProject
|
||||
Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "libbulletmath", "..\..\msvc\8\libbulletmath.vcproj", "{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}"
|
||||
EndProject
|
||||
Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "libbulletcollision", "..\..\msvc\8\libbulletcollision.vcproj", "{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}"
|
||||
EndProject
|
||||
Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "libbulletdynamics", "..\..\msvc\8\libbulletdynamics.vcproj", "{61BD1097-CF2E-B296-DAA9-73A6FE135319}"
|
||||
EndProject
|
||||
Global
|
||||
GlobalSection(SolutionConfigurationPlatforms) = preSolution
|
||||
Debug|Any CPU = Debug|Any CPU
|
||||
Debug|Mixed Platforms = Debug|Mixed Platforms
|
||||
Debug|Win32 = Debug|Win32
|
||||
DebugDll|Any CPU = DebugDll|Any CPU
|
||||
DebugDll|Mixed Platforms = DebugDll|Mixed Platforms
|
||||
DebugDll|Win32 = DebugDll|Win32
|
||||
DebugDoublePrecision|Any CPU = DebugDoublePrecision|Any CPU
|
||||
DebugDoublePrecision|Mixed Platforms = DebugDoublePrecision|Mixed Platforms
|
||||
DebugDoublePrecision|Win32 = DebugDoublePrecision|Win32
|
||||
Release|Any CPU = Release|Any CPU
|
||||
Release|Mixed Platforms = Release|Mixed Platforms
|
||||
Release|Win32 = Release|Win32
|
||||
ReleaseDll|Any CPU = ReleaseDll|Any CPU
|
||||
ReleaseDll|Mixed Platforms = ReleaseDll|Mixed Platforms
|
||||
ReleaseDll|Win32 = ReleaseDll|Win32
|
||||
ReleaseDoublePrecision|Any CPU = ReleaseDoublePrecision|Any CPU
|
||||
ReleaseDoublePrecision|Mixed Platforms = ReleaseDoublePrecision|Mixed Platforms
|
||||
ReleaseDoublePrecision|Win32 = ReleaseDoublePrecision|Win32
|
||||
EndGlobalSection
|
||||
GlobalSection(ProjectConfigurationPlatforms) = postSolution
|
||||
{5EE4C1C4-4C81-46BB-A1C4-416F74BF9239}.Debug|Any CPU.ActiveCfg = Debug|Win32
|
||||
{5EE4C1C4-4C81-46BB-A1C4-416F74BF9239}.Debug|Mixed Platforms.ActiveCfg = Debug|Win32
|
||||
{5EE4C1C4-4C81-46BB-A1C4-416F74BF9239}.Debug|Mixed Platforms.Build.0 = Debug|Win32
|
||||
{5EE4C1C4-4C81-46BB-A1C4-416F74BF9239}.Debug|Win32.ActiveCfg = Debug|Win32
|
||||
{5EE4C1C4-4C81-46BB-A1C4-416F74BF9239}.Debug|Win32.Build.0 = Debug|Win32
|
||||
{5EE4C1C4-4C81-46BB-A1C4-416F74BF9239}.DebugDll|Any CPU.ActiveCfg = Debug|Win32
|
||||
{5EE4C1C4-4C81-46BB-A1C4-416F74BF9239}.DebugDll|Mixed Platforms.ActiveCfg = Debug|Win32
|
||||
{5EE4C1C4-4C81-46BB-A1C4-416F74BF9239}.DebugDll|Mixed Platforms.Build.0 = Debug|Win32
|
||||
{5EE4C1C4-4C81-46BB-A1C4-416F74BF9239}.DebugDll|Win32.ActiveCfg = Debug|Win32
|
||||
{5EE4C1C4-4C81-46BB-A1C4-416F74BF9239}.DebugDll|Win32.Build.0 = Debug|Win32
|
||||
{5EE4C1C4-4C81-46BB-A1C4-416F74BF9239}.DebugDoublePrecision|Any CPU.ActiveCfg = Debug|Win32
|
||||
{5EE4C1C4-4C81-46BB-A1C4-416F74BF9239}.DebugDoublePrecision|Mixed Platforms.ActiveCfg = Debug|Win32
|
||||
{5EE4C1C4-4C81-46BB-A1C4-416F74BF9239}.DebugDoublePrecision|Mixed Platforms.Build.0 = Debug|Win32
|
||||
{5EE4C1C4-4C81-46BB-A1C4-416F74BF9239}.DebugDoublePrecision|Win32.ActiveCfg = Debug|Win32
|
||||
{5EE4C1C4-4C81-46BB-A1C4-416F74BF9239}.DebugDoublePrecision|Win32.Build.0 = Debug|Win32
|
||||
{5EE4C1C4-4C81-46BB-A1C4-416F74BF9239}.Release|Any CPU.ActiveCfg = Release|Win32
|
||||
{5EE4C1C4-4C81-46BB-A1C4-416F74BF9239}.Release|Mixed Platforms.ActiveCfg = Release|Win32
|
||||
{5EE4C1C4-4C81-46BB-A1C4-416F74BF9239}.Release|Mixed Platforms.Build.0 = Release|Win32
|
||||
{5EE4C1C4-4C81-46BB-A1C4-416F74BF9239}.Release|Win32.ActiveCfg = Release|Win32
|
||||
{5EE4C1C4-4C81-46BB-A1C4-416F74BF9239}.Release|Win32.Build.0 = Release|Win32
|
||||
{5EE4C1C4-4C81-46BB-A1C4-416F74BF9239}.ReleaseDll|Any CPU.ActiveCfg = Release|Win32
|
||||
{5EE4C1C4-4C81-46BB-A1C4-416F74BF9239}.ReleaseDll|Mixed Platforms.ActiveCfg = Release|Win32
|
||||
{5EE4C1C4-4C81-46BB-A1C4-416F74BF9239}.ReleaseDll|Mixed Platforms.Build.0 = Release|Win32
|
||||
{5EE4C1C4-4C81-46BB-A1C4-416F74BF9239}.ReleaseDll|Win32.ActiveCfg = Release|Win32
|
||||
{5EE4C1C4-4C81-46BB-A1C4-416F74BF9239}.ReleaseDll|Win32.Build.0 = Release|Win32
|
||||
{5EE4C1C4-4C81-46BB-A1C4-416F74BF9239}.ReleaseDoublePrecision|Any CPU.ActiveCfg = Release|Win32
|
||||
{5EE4C1C4-4C81-46BB-A1C4-416F74BF9239}.ReleaseDoublePrecision|Mixed Platforms.ActiveCfg = Release|Win32
|
||||
{5EE4C1C4-4C81-46BB-A1C4-416F74BF9239}.ReleaseDoublePrecision|Mixed Platforms.Build.0 = Release|Win32
|
||||
{5EE4C1C4-4C81-46BB-A1C4-416F74BF9239}.ReleaseDoublePrecision|Win32.ActiveCfg = Release|Win32
|
||||
{5EE4C1C4-4C81-46BB-A1C4-416F74BF9239}.ReleaseDoublePrecision|Win32.Build.0 = Release|Win32
|
||||
{11E65486-3C29-4D36-B488-4E05D9E4B46B}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
|
||||
{11E65486-3C29-4D36-B488-4E05D9E4B46B}.Debug|Any CPU.Build.0 = Debug|Any CPU
|
||||
{11E65486-3C29-4D36-B488-4E05D9E4B46B}.Debug|Mixed Platforms.ActiveCfg = Debug|Any CPU
|
||||
{11E65486-3C29-4D36-B488-4E05D9E4B46B}.Debug|Mixed Platforms.Build.0 = Debug|Any CPU
|
||||
{11E65486-3C29-4D36-B488-4E05D9E4B46B}.Debug|Win32.ActiveCfg = Debug|Any CPU
|
||||
{11E65486-3C29-4D36-B488-4E05D9E4B46B}.DebugDll|Any CPU.ActiveCfg = Debug|Any CPU
|
||||
{11E65486-3C29-4D36-B488-4E05D9E4B46B}.DebugDll|Any CPU.Build.0 = Debug|Any CPU
|
||||
{11E65486-3C29-4D36-B488-4E05D9E4B46B}.DebugDll|Mixed Platforms.ActiveCfg = Debug|Any CPU
|
||||
{11E65486-3C29-4D36-B488-4E05D9E4B46B}.DebugDll|Mixed Platforms.Build.0 = Debug|Any CPU
|
||||
{11E65486-3C29-4D36-B488-4E05D9E4B46B}.DebugDll|Win32.ActiveCfg = Debug|Any CPU
|
||||
{11E65486-3C29-4D36-B488-4E05D9E4B46B}.DebugDoublePrecision|Any CPU.ActiveCfg = Debug|Any CPU
|
||||
{11E65486-3C29-4D36-B488-4E05D9E4B46B}.DebugDoublePrecision|Any CPU.Build.0 = Debug|Any CPU
|
||||
{11E65486-3C29-4D36-B488-4E05D9E4B46B}.DebugDoublePrecision|Mixed Platforms.ActiveCfg = Debug|Any CPU
|
||||
{11E65486-3C29-4D36-B488-4E05D9E4B46B}.DebugDoublePrecision|Mixed Platforms.Build.0 = Debug|Any CPU
|
||||
{11E65486-3C29-4D36-B488-4E05D9E4B46B}.DebugDoublePrecision|Win32.ActiveCfg = Debug|Any CPU
|
||||
{11E65486-3C29-4D36-B488-4E05D9E4B46B}.Release|Any CPU.ActiveCfg = Release|Any CPU
|
||||
{11E65486-3C29-4D36-B488-4E05D9E4B46B}.Release|Any CPU.Build.0 = Release|Any CPU
|
||||
{11E65486-3C29-4D36-B488-4E05D9E4B46B}.Release|Mixed Platforms.ActiveCfg = Release|Any CPU
|
||||
{11E65486-3C29-4D36-B488-4E05D9E4B46B}.Release|Mixed Platforms.Build.0 = Release|Any CPU
|
||||
{11E65486-3C29-4D36-B488-4E05D9E4B46B}.Release|Win32.ActiveCfg = Release|Any CPU
|
||||
{11E65486-3C29-4D36-B488-4E05D9E4B46B}.ReleaseDll|Any CPU.ActiveCfg = Release|Any CPU
|
||||
{11E65486-3C29-4D36-B488-4E05D9E4B46B}.ReleaseDll|Any CPU.Build.0 = Release|Any CPU
|
||||
{11E65486-3C29-4D36-B488-4E05D9E4B46B}.ReleaseDll|Mixed Platforms.ActiveCfg = Release|Any CPU
|
||||
{11E65486-3C29-4D36-B488-4E05D9E4B46B}.ReleaseDll|Mixed Platforms.Build.0 = Release|Any CPU
|
||||
{11E65486-3C29-4D36-B488-4E05D9E4B46B}.ReleaseDll|Win32.ActiveCfg = Release|Any CPU
|
||||
{11E65486-3C29-4D36-B488-4E05D9E4B46B}.ReleaseDoublePrecision|Any CPU.ActiveCfg = Release|Any CPU
|
||||
{11E65486-3C29-4D36-B488-4E05D9E4B46B}.ReleaseDoublePrecision|Any CPU.Build.0 = Release|Any CPU
|
||||
{11E65486-3C29-4D36-B488-4E05D9E4B46B}.ReleaseDoublePrecision|Mixed Platforms.ActiveCfg = Release|Any CPU
|
||||
{11E65486-3C29-4D36-B488-4E05D9E4B46B}.ReleaseDoublePrecision|Mixed Platforms.Build.0 = Release|Any CPU
|
||||
{11E65486-3C29-4D36-B488-4E05D9E4B46B}.ReleaseDoublePrecision|Win32.ActiveCfg = Release|Any CPU
|
||||
{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}.Debug|Any CPU.ActiveCfg = Debug|Win32
|
||||
{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}.Debug|Mixed Platforms.ActiveCfg = Debug|Win32
|
||||
{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}.Debug|Mixed Platforms.Build.0 = Debug|Win32
|
||||
{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}.Debug|Win32.ActiveCfg = Debug|Win32
|
||||
{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}.Debug|Win32.Build.0 = Debug|Win32
|
||||
{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}.DebugDll|Any CPU.ActiveCfg = DebugDll|Win32
|
||||
{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}.DebugDll|Mixed Platforms.ActiveCfg = DebugDll|Win32
|
||||
{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}.DebugDll|Mixed Platforms.Build.0 = DebugDll|Win32
|
||||
{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}.DebugDll|Win32.ActiveCfg = DebugDll|Win32
|
||||
{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}.DebugDll|Win32.Build.0 = DebugDll|Win32
|
||||
{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}.DebugDoublePrecision|Any CPU.ActiveCfg = DebugDoublePrecision|Win32
|
||||
{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}.DebugDoublePrecision|Mixed Platforms.ActiveCfg = DebugDoublePrecision|Win32
|
||||
{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}.DebugDoublePrecision|Mixed Platforms.Build.0 = DebugDoublePrecision|Win32
|
||||
{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}.DebugDoublePrecision|Win32.ActiveCfg = DebugDoublePrecision|Win32
|
||||
{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}.DebugDoublePrecision|Win32.Build.0 = DebugDoublePrecision|Win32
|
||||
{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}.Release|Any CPU.ActiveCfg = Release|Win32
|
||||
{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}.Release|Mixed Platforms.ActiveCfg = Release|Win32
|
||||
{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}.Release|Mixed Platforms.Build.0 = Release|Win32
|
||||
{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}.Release|Win32.ActiveCfg = Release|Win32
|
||||
{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}.Release|Win32.Build.0 = Release|Win32
|
||||
{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}.ReleaseDll|Any CPU.ActiveCfg = ReleaseDll|Win32
|
||||
{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}.ReleaseDll|Mixed Platforms.ActiveCfg = ReleaseDll|Win32
|
||||
{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}.ReleaseDll|Mixed Platforms.Build.0 = ReleaseDll|Win32
|
||||
{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}.ReleaseDll|Win32.ActiveCfg = ReleaseDll|Win32
|
||||
{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}.ReleaseDll|Win32.Build.0 = ReleaseDll|Win32
|
||||
{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}.ReleaseDoublePrecision|Any CPU.ActiveCfg = ReleaseDoublePrecision|Win32
|
||||
{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}.ReleaseDoublePrecision|Mixed Platforms.ActiveCfg = ReleaseDoublePrecision|Win32
|
||||
{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}.ReleaseDoublePrecision|Mixed Platforms.Build.0 = ReleaseDoublePrecision|Win32
|
||||
{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}.ReleaseDoublePrecision|Win32.ActiveCfg = ReleaseDoublePrecision|Win32
|
||||
{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}.ReleaseDoublePrecision|Win32.Build.0 = ReleaseDoublePrecision|Win32
|
||||
{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}.Debug|Any CPU.ActiveCfg = Debug|Win32
|
||||
{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}.Debug|Mixed Platforms.ActiveCfg = Debug|Win32
|
||||
{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}.Debug|Mixed Platforms.Build.0 = Debug|Win32
|
||||
{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}.Debug|Win32.ActiveCfg = Debug|Win32
|
||||
{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}.Debug|Win32.Build.0 = Debug|Win32
|
||||
{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}.DebugDll|Any CPU.ActiveCfg = DebugDll|Win32
|
||||
{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}.DebugDll|Mixed Platforms.ActiveCfg = DebugDll|Win32
|
||||
{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}.DebugDll|Mixed Platforms.Build.0 = DebugDll|Win32
|
||||
{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}.DebugDll|Win32.ActiveCfg = DebugDll|Win32
|
||||
{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}.DebugDll|Win32.Build.0 = DebugDll|Win32
|
||||
{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}.DebugDoublePrecision|Any CPU.ActiveCfg = DebugDoublePrecision|Win32
|
||||
{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}.DebugDoublePrecision|Mixed Platforms.ActiveCfg = DebugDoublePrecision|Win32
|
||||
{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}.DebugDoublePrecision|Mixed Platforms.Build.0 = DebugDoublePrecision|Win32
|
||||
{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}.DebugDoublePrecision|Win32.ActiveCfg = DebugDoublePrecision|Win32
|
||||
{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}.DebugDoublePrecision|Win32.Build.0 = DebugDoublePrecision|Win32
|
||||
{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}.Release|Any CPU.ActiveCfg = Release|Win32
|
||||
{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}.Release|Mixed Platforms.ActiveCfg = Release|Win32
|
||||
{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}.Release|Mixed Platforms.Build.0 = Release|Win32
|
||||
{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}.Release|Win32.ActiveCfg = Release|Win32
|
||||
{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}.Release|Win32.Build.0 = Release|Win32
|
||||
{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}.ReleaseDll|Any CPU.ActiveCfg = ReleaseDll|Win32
|
||||
{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}.ReleaseDll|Mixed Platforms.ActiveCfg = ReleaseDll|Win32
|
||||
{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}.ReleaseDll|Mixed Platforms.Build.0 = ReleaseDll|Win32
|
||||
{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}.ReleaseDll|Win32.ActiveCfg = ReleaseDll|Win32
|
||||
{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}.ReleaseDll|Win32.Build.0 = ReleaseDll|Win32
|
||||
{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}.ReleaseDoublePrecision|Any CPU.ActiveCfg = ReleaseDoublePrecision|Win32
|
||||
{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}.ReleaseDoublePrecision|Mixed Platforms.ActiveCfg = ReleaseDoublePrecision|Win32
|
||||
{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}.ReleaseDoublePrecision|Mixed Platforms.Build.0 = ReleaseDoublePrecision|Win32
|
||||
{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}.ReleaseDoublePrecision|Win32.ActiveCfg = ReleaseDoublePrecision|Win32
|
||||
{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}.ReleaseDoublePrecision|Win32.Build.0 = ReleaseDoublePrecision|Win32
|
||||
{61BD1097-CF2E-B296-DAA9-73A6FE135319}.Debug|Any CPU.ActiveCfg = Debug|Win32
|
||||
{61BD1097-CF2E-B296-DAA9-73A6FE135319}.Debug|Mixed Platforms.ActiveCfg = Debug|Win32
|
||||
{61BD1097-CF2E-B296-DAA9-73A6FE135319}.Debug|Mixed Platforms.Build.0 = Debug|Win32
|
||||
{61BD1097-CF2E-B296-DAA9-73A6FE135319}.Debug|Win32.ActiveCfg = Debug|Win32
|
||||
{61BD1097-CF2E-B296-DAA9-73A6FE135319}.Debug|Win32.Build.0 = Debug|Win32
|
||||
{61BD1097-CF2E-B296-DAA9-73A6FE135319}.DebugDll|Any CPU.ActiveCfg = DebugDll|Win32
|
||||
{61BD1097-CF2E-B296-DAA9-73A6FE135319}.DebugDll|Mixed Platforms.ActiveCfg = DebugDll|Win32
|
||||
{61BD1097-CF2E-B296-DAA9-73A6FE135319}.DebugDll|Mixed Platforms.Build.0 = DebugDll|Win32
|
||||
{61BD1097-CF2E-B296-DAA9-73A6FE135319}.DebugDll|Win32.ActiveCfg = DebugDll|Win32
|
||||
{61BD1097-CF2E-B296-DAA9-73A6FE135319}.DebugDll|Win32.Build.0 = DebugDll|Win32
|
||||
{61BD1097-CF2E-B296-DAA9-73A6FE135319}.DebugDoublePrecision|Any CPU.ActiveCfg = DebugDoublePrecision|Win32
|
||||
{61BD1097-CF2E-B296-DAA9-73A6FE135319}.DebugDoublePrecision|Mixed Platforms.ActiveCfg = DebugDoublePrecision|Win32
|
||||
{61BD1097-CF2E-B296-DAA9-73A6FE135319}.DebugDoublePrecision|Mixed Platforms.Build.0 = DebugDoublePrecision|Win32
|
||||
{61BD1097-CF2E-B296-DAA9-73A6FE135319}.DebugDoublePrecision|Win32.ActiveCfg = DebugDoublePrecision|Win32
|
||||
{61BD1097-CF2E-B296-DAA9-73A6FE135319}.DebugDoublePrecision|Win32.Build.0 = DebugDoublePrecision|Win32
|
||||
{61BD1097-CF2E-B296-DAA9-73A6FE135319}.Release|Any CPU.ActiveCfg = Release|Win32
|
||||
{61BD1097-CF2E-B296-DAA9-73A6FE135319}.Release|Mixed Platforms.ActiveCfg = Release|Win32
|
||||
{61BD1097-CF2E-B296-DAA9-73A6FE135319}.Release|Mixed Platforms.Build.0 = Release|Win32
|
||||
{61BD1097-CF2E-B296-DAA9-73A6FE135319}.Release|Win32.ActiveCfg = Release|Win32
|
||||
{61BD1097-CF2E-B296-DAA9-73A6FE135319}.Release|Win32.Build.0 = Release|Win32
|
||||
{61BD1097-CF2E-B296-DAA9-73A6FE135319}.ReleaseDll|Any CPU.ActiveCfg = ReleaseDll|Win32
|
||||
{61BD1097-CF2E-B296-DAA9-73A6FE135319}.ReleaseDll|Mixed Platforms.ActiveCfg = ReleaseDll|Win32
|
||||
{61BD1097-CF2E-B296-DAA9-73A6FE135319}.ReleaseDll|Mixed Platforms.Build.0 = ReleaseDll|Win32
|
||||
{61BD1097-CF2E-B296-DAA9-73A6FE135319}.ReleaseDll|Win32.ActiveCfg = ReleaseDll|Win32
|
||||
{61BD1097-CF2E-B296-DAA9-73A6FE135319}.ReleaseDll|Win32.Build.0 = ReleaseDll|Win32
|
||||
{61BD1097-CF2E-B296-DAA9-73A6FE135319}.ReleaseDoublePrecision|Any CPU.ActiveCfg = ReleaseDoublePrecision|Win32
|
||||
{61BD1097-CF2E-B296-DAA9-73A6FE135319}.ReleaseDoublePrecision|Mixed Platforms.ActiveCfg = ReleaseDoublePrecision|Win32
|
||||
{61BD1097-CF2E-B296-DAA9-73A6FE135319}.ReleaseDoublePrecision|Mixed Platforms.Build.0 = ReleaseDoublePrecision|Win32
|
||||
{61BD1097-CF2E-B296-DAA9-73A6FE135319}.ReleaseDoublePrecision|Win32.ActiveCfg = ReleaseDoublePrecision|Win32
|
||||
{61BD1097-CF2E-B296-DAA9-73A6FE135319}.ReleaseDoublePrecision|Win32.Build.0 = ReleaseDoublePrecision|Win32
|
||||
EndGlobalSection
|
||||
GlobalSection(SolutionProperties) = preSolution
|
||||
HideSolutionNode = FALSE
|
||||
EndGlobalSection
|
||||
EndGlobal
|
||||
210
Extras/obsolete/CSharpWrapper/BulletPhysics.vcproj
Normal file
210
Extras/obsolete/CSharpWrapper/BulletPhysics.vcproj
Normal file
@@ -0,0 +1,210 @@
|
||||
<?xml version="1.0" encoding="Windows-1252"?>
|
||||
<VisualStudioProject
|
||||
ProjectType="Visual C++"
|
||||
Version="8.00"
|
||||
Name="BulletPhysics"
|
||||
ProjectGUID="{5EE4C1C4-4C81-46BB-A1C4-416F74BF9239}"
|
||||
RootNamespace="bullet"
|
||||
Keyword="Win32Proj"
|
||||
>
|
||||
<Platforms>
|
||||
<Platform
|
||||
Name="Win32"
|
||||
/>
|
||||
</Platforms>
|
||||
<ToolFiles>
|
||||
</ToolFiles>
|
||||
<Configurations>
|
||||
<Configuration
|
||||
Name="Debug|Win32"
|
||||
OutputDirectory="$(SolutionDir)$(ConfigurationName)"
|
||||
IntermediateDirectory="obj/$(ConfigurationName)"
|
||||
ConfigurationType="2"
|
||||
CharacterSet="1"
|
||||
ManagedExtensions="4"
|
||||
>
|
||||
<Tool
|
||||
Name="VCPreBuildEventTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCCustomBuildTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCXMLDataGeneratorTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCWebServiceProxyGeneratorTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCMIDLTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCCLCompilerTool"
|
||||
Optimization="0"
|
||||
AdditionalIncludeDirectories="../../src"
|
||||
PreprocessorDefinitions="WIN32;_NDEBUG;_WINDOWS;_USRDLL;BULLET_EXPORTS"
|
||||
MinimalRebuild="false"
|
||||
BasicRuntimeChecks="0"
|
||||
RuntimeLibrary="3"
|
||||
UsePrecompiledHeader="0"
|
||||
WarningLevel="3"
|
||||
Detect64BitPortabilityProblems="true"
|
||||
DebugInformationFormat="0"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCManagedResourceCompilerTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCResourceCompilerTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCPreLinkEventTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCLinkerTool"
|
||||
LinkIncremental="2"
|
||||
GenerateDebugInformation="false"
|
||||
AssemblyDebug="0"
|
||||
SubSystem="2"
|
||||
TargetMachine="1"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCALinkTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCManifestTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCXDCMakeTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCBscMakeTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCFxCopTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCAppVerifierTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCWebDeploymentTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCPostBuildEventTool"
|
||||
CommandLine=""
|
||||
/>
|
||||
</Configuration>
|
||||
<Configuration
|
||||
Name="Release|Win32"
|
||||
OutputDirectory="$(SolutionDir)$(ConfigurationName)"
|
||||
IntermediateDirectory="obj/$(ConfigurationName)"
|
||||
ConfigurationType="2"
|
||||
CharacterSet="1"
|
||||
ManagedExtensions="4"
|
||||
WholeProgramOptimization="1"
|
||||
>
|
||||
<Tool
|
||||
Name="VCPreBuildEventTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCCustomBuildTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCXMLDataGeneratorTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCWebServiceProxyGeneratorTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCMIDLTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCCLCompilerTool"
|
||||
AdditionalIncludeDirectories="../../src"
|
||||
PreprocessorDefinitions="WIN32;NDEBUG;_WINDOWS;_USRDLL;BULLET_EXPORTS"
|
||||
RuntimeLibrary="2"
|
||||
UsePrecompiledHeader="0"
|
||||
WarningLevel="3"
|
||||
Detect64BitPortabilityProblems="true"
|
||||
DebugInformationFormat="0"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCManagedResourceCompilerTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCResourceCompilerTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCPreLinkEventTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCLinkerTool"
|
||||
LinkIncremental="1"
|
||||
GenerateDebugInformation="false"
|
||||
SubSystem="2"
|
||||
OptimizeReferences="2"
|
||||
EnableCOMDATFolding="2"
|
||||
TargetMachine="1"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCALinkTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCManifestTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCXDCMakeTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCBscMakeTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCFxCopTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCAppVerifierTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCWebDeploymentTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCPostBuildEventTool"
|
||||
CommandLine=""
|
||||
/>
|
||||
</Configuration>
|
||||
</Configurations>
|
||||
<References>
|
||||
</References>
|
||||
<Files>
|
||||
<Filter
|
||||
Name="Source Files"
|
||||
Filter="cpp;c;cc;cxx;def;odl;idl;hpj;bat;asm;asmx"
|
||||
UniqueIdentifier="{4FC737F1-C7A5-4376-A066-2A32D752A2FF}"
|
||||
>
|
||||
<File
|
||||
RelativePath=".\AssemblyInfo.cpp"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\BulletWrapper.cpp"
|
||||
>
|
||||
</File>
|
||||
</Filter>
|
||||
<Filter
|
||||
Name="Header Files"
|
||||
Filter="h;hpp;hxx;hm;inl;inc;xsd"
|
||||
UniqueIdentifier="{93995380-89BD-4b04-88EB-625FBE52EBFB}"
|
||||
>
|
||||
<File
|
||||
RelativePath=".\BulletWrapper.h"
|
||||
>
|
||||
</File>
|
||||
</Filter>
|
||||
<File
|
||||
RelativePath=".\Scea.BulletPhysics.dll.2.config"
|
||||
>
|
||||
</File>
|
||||
</Files>
|
||||
<Globals>
|
||||
</Globals>
|
||||
</VisualStudioProject>
|
||||
73
Extras/obsolete/CSharpWrapper/BulletPhysicsapp.csproj
Normal file
73
Extras/obsolete/CSharpWrapper/BulletPhysicsapp.csproj
Normal file
@@ -0,0 +1,73 @@
|
||||
<Project DefaultTargets="Build" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
|
||||
<PropertyGroup>
|
||||
<Configuration Condition=" '$(Configuration)' == '' ">Debug</Configuration>
|
||||
<Platform Condition=" '$(Platform)' == '' ">AnyCPU</Platform>
|
||||
<ProductVersion>8.0.50727</ProductVersion>
|
||||
<SchemaVersion>2.0</SchemaVersion>
|
||||
<ProjectGuid>{11E65486-3C29-4D36-B488-4E05D9E4B46B}</ProjectGuid>
|
||||
<OutputType>WinExe</OutputType>
|
||||
<AppDesignerFolder>Properties</AppDesignerFolder>
|
||||
<RootNamespace>bulletapp</RootNamespace>
|
||||
<AssemblyName>bulletapp</AssemblyName>
|
||||
</PropertyGroup>
|
||||
<PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Debug|AnyCPU' ">
|
||||
<DebugSymbols>true</DebugSymbols>
|
||||
<DebugType>full</DebugType>
|
||||
<Optimize>false</Optimize>
|
||||
<OutputPath>bin\Debug\</OutputPath>
|
||||
<DefineConstants>DEBUG;TRACE</DefineConstants>
|
||||
<ErrorReport>prompt</ErrorReport>
|
||||
<WarningLevel>4</WarningLevel>
|
||||
</PropertyGroup>
|
||||
<PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Release|AnyCPU' ">
|
||||
<DebugType>pdbonly</DebugType>
|
||||
<Optimize>true</Optimize>
|
||||
<OutputPath>bin\Release\</OutputPath>
|
||||
<DefineConstants>TRACE</DefineConstants>
|
||||
<ErrorReport>prompt</ErrorReport>
|
||||
<WarningLevel>4</WarningLevel>
|
||||
</PropertyGroup>
|
||||
<ItemGroup>
|
||||
<Reference Include="BulletPhysics, Version=1.0.3316.31474, Culture=neutral, processorArchitecture=x86">
|
||||
<SpecificVersion>False</SpecificVersion>
|
||||
<HintPath>debug\BulletPhysics.dll</HintPath>
|
||||
</Reference>
|
||||
<Reference Include="System" />
|
||||
<Reference Include="System.Data" />
|
||||
<Reference Include="System.Deployment" />
|
||||
<Reference Include="System.Drawing" />
|
||||
<Reference Include="System.Windows.Forms" />
|
||||
<Reference Include="System.Xml" />
|
||||
</ItemGroup>
|
||||
<ItemGroup>
|
||||
<Compile Include="Program.cs" />
|
||||
<Compile Include="Properties\AssemblyInfo.cs" />
|
||||
<EmbeddedResource Include="Properties\Resources.resx">
|
||||
<Generator>ResXFileCodeGenerator</Generator>
|
||||
<LastGenOutput>Resources.Designer.cs</LastGenOutput>
|
||||
<SubType>Designer</SubType>
|
||||
</EmbeddedResource>
|
||||
<Compile Include="Properties\Resources.Designer.cs">
|
||||
<AutoGen>True</AutoGen>
|
||||
<DependentUpon>Resources.resx</DependentUpon>
|
||||
<DesignTime>True</DesignTime>
|
||||
</Compile>
|
||||
<None Include="Properties\Settings.settings">
|
||||
<Generator>SettingsSingleFileGenerator</Generator>
|
||||
<LastGenOutput>Settings.Designer.cs</LastGenOutput>
|
||||
</None>
|
||||
<Compile Include="Properties\Settings.Designer.cs">
|
||||
<AutoGen>True</AutoGen>
|
||||
<DependentUpon>Settings.settings</DependentUpon>
|
||||
<DesignTimeSharedInput>True</DesignTimeSharedInput>
|
||||
</Compile>
|
||||
</ItemGroup>
|
||||
<Import Project="$(MSBuildBinPath)\Microsoft.CSharp.targets" />
|
||||
<!-- To modify your build process, add your task inside one of the targets below and uncomment it.
|
||||
Other similar extension points exist, see Microsoft.Common.targets.
|
||||
<Target Name="BeforeBuild">
|
||||
</Target>
|
||||
<Target Name="AfterBuild">
|
||||
</Target>
|
||||
-->
|
||||
</Project>
|
||||
21
Extras/obsolete/CSharpWrapper/BulletWrapper.cpp
Normal file
21
Extras/obsolete/CSharpWrapper/BulletWrapper.cpp
Normal file
@@ -0,0 +1,21 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2008 SCEI
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
/*
|
||||
This is a C++/CLI wrapper of the high-level generic physics C-API.
|
||||
You will be able to use it in C#
|
||||
*/
|
||||
|
||||
#include "BulletWrapper.h"
|
||||
422
Extras/obsolete/CSharpWrapper/BulletWrapper.h
Normal file
422
Extras/obsolete/CSharpWrapper/BulletWrapper.h
Normal file
@@ -0,0 +1,422 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2008 SCEI
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
/*
|
||||
This is a C++/CLI wrapper of the high-level generic physics C-API.
|
||||
You will be able to use it in C#
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "Bullet-C-Api.h"
|
||||
|
||||
namespace Scea
|
||||
{
|
||||
namespace BulletPhysics
|
||||
{
|
||||
/// <summary>
|
||||
/// Base Bullet Class</summary>
|
||||
public __gc class Bullet;
|
||||
public __gc class RigidBodyHandle;
|
||||
public __gc class CollisionShapeHandle;
|
||||
public __gc class MeshInterfaceHandle;
|
||||
|
||||
/// <summary>
|
||||
/// A Mesh Interface Handle for Bullet</summary>
|
||||
public __gc class MeshInterfaceHandle
|
||||
{
|
||||
public:
|
||||
/// <summary>
|
||||
/// Constructor for Mesh Interface Handle</summary>
|
||||
MeshInterfaceHandle(plMeshInterfaceHandle handle)
|
||||
{
|
||||
_plMeshInterfaceHandle = handle;
|
||||
}
|
||||
/// <summary>
|
||||
/// Destructor for Mesh Interface Handle</summary>
|
||||
~MeshInterfaceHandle()
|
||||
{
|
||||
_plMeshInterfaceHandle = 0;
|
||||
};
|
||||
plMeshInterfaceHandle _plMeshInterfaceHandle;
|
||||
};
|
||||
|
||||
/// <summary>
|
||||
/// A RigidBody handle for Bullet</summary>
|
||||
public __gc class RigidBodyHandle
|
||||
{
|
||||
public:
|
||||
/// <summary>
|
||||
/// Constructor for RigidBody handle</summary>
|
||||
RigidBodyHandle(plRigidBodyHandle handle)
|
||||
{
|
||||
_plRigidBodyHandle = handle;
|
||||
}
|
||||
/// <summary>
|
||||
/// Destructor for RigidBody handle</summary>
|
||||
~RigidBodyHandle()
|
||||
{
|
||||
_plRigidBodyHandle = 0;
|
||||
};
|
||||
plRigidBodyHandle _plRigidBodyHandle;
|
||||
};
|
||||
|
||||
/// <summary>
|
||||
/// A Collision Shape handle for Bullet</summary>
|
||||
public __gc class CollisionShapeHandle
|
||||
{
|
||||
public:
|
||||
/// <summary>
|
||||
/// Constructor for Collision Shape handle</summary>
|
||||
CollisionShapeHandle(plCollisionShapeHandle handle)
|
||||
{
|
||||
_plCollisionShapeHandle = handle;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// Destructor for Collision Shape handle</summary>
|
||||
~CollisionShapeHandle()
|
||||
{
|
||||
_plCollisionShapeHandle = 0;
|
||||
};
|
||||
plCollisionShapeHandle _plCollisionShapeHandle;
|
||||
};
|
||||
|
||||
/// <summary>
|
||||
/// A RigidBody class in Bullet</summary>
|
||||
public __gc class RigidBody
|
||||
{
|
||||
public:
|
||||
/// <summary>
|
||||
/// Constructor for RigidBody</summary>
|
||||
/// <param name="mass">The mass of this RigidBody</param>
|
||||
/// <param name="shape">The Collision Shape handle of this RigidBody</param>
|
||||
/// <remarks>stationary object has mass=0.f</remarks>
|
||||
RigidBody(float mass, CollisionShapeHandle * shape)
|
||||
{
|
||||
_plCollisionShapeHandle = shape->_plCollisionShapeHandle;
|
||||
_plRigidBodyHandle = plCreateRigidBody(0, mass, _plCollisionShapeHandle);
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// Destructor for RigidBody</summary>
|
||||
~RigidBody()
|
||||
{
|
||||
if (_plRigidBodyHandle != 0)
|
||||
{
|
||||
plDeleteRigidBody(_plRigidBodyHandle );
|
||||
_plRigidBodyHandle = 0;
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// Dispose function for RigidBody</summary>
|
||||
void Dispose()
|
||||
{
|
||||
if (_plRigidBodyHandle != 0)
|
||||
{
|
||||
plDeleteRigidBody(_plRigidBodyHandle );
|
||||
_plRigidBodyHandle = 0;
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// Get the Position for this RigidBody</summary>
|
||||
/// <param name="float_array">The float[3] position of this RigidBody</param>
|
||||
void GetPosition(float float_array __gc[])
|
||||
{
|
||||
float position[3];
|
||||
plGetPosition(_plRigidBodyHandle, position);
|
||||
for (int i=0; i<3; i++)
|
||||
float_array[i] = position[i];
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// Get the Open GL World Matrix for this RigidBody</summary>
|
||||
/// <param name="float_array">The float[16] GL world matrix of this RigidBody</param>
|
||||
void GetOpenGLMatrix(float float_array __gc[])
|
||||
{
|
||||
float matrix[16];
|
||||
plGetOpenGLMatrix(_plRigidBodyHandle, matrix);
|
||||
for (int i=0; i<16; i++)
|
||||
float_array[i] = matrix[i];
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// Get the orientation for this RigidBody</summary>
|
||||
/// <param name="float_array">The float[4] orientation of this RigidBody</param>
|
||||
void GetOrientation(float float_array __gc[])
|
||||
{
|
||||
float orientation[4];
|
||||
plGetOrientation(_plRigidBodyHandle, orientation);
|
||||
for (int i=0; i<4; i++)
|
||||
float_array[i] = orientation[i];
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// Set the position for this RigidBody</summary>
|
||||
/// <param name="float_array">The float[3] position of this RigidBody</param>
|
||||
void SetPosition(float float_array __gc[])
|
||||
{
|
||||
float position[3];
|
||||
for (int i=0; i<3; i++)
|
||||
position[i] = float_array[i];
|
||||
plSetPosition(_plRigidBodyHandle, position);
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// Set the orientation for this RigidBody</summary>
|
||||
/// <param name="float_array">The float[3] orientation of this RigidBody</param>
|
||||
void SetOrientation(float float_array __gc[])
|
||||
{
|
||||
float orientation[3];
|
||||
for (int i=0; i<3; i++)
|
||||
orientation[i] = float_array[i];
|
||||
plSetOrientation(_plRigidBodyHandle, orientation);
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// Set the orientation for this RigidBody</summary>
|
||||
/// <param name="yaw">The yaw orientation of this RigidBody</param>
|
||||
/// <param name="pitch">The pitch orientation of this RigidBody</param>
|
||||
/// <param name="roll">The roll orientation of this RigidBody</param>
|
||||
void SetOrientation(float yaw, float pitch, float roll)
|
||||
{
|
||||
float orient[4];
|
||||
plSetEuler(yaw, pitch, roll, orient);
|
||||
plSetOrientation(_plRigidBodyHandle, orient);
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// Set the Open GL World Matrix for this RigidBody</summary>
|
||||
/// <param name="float_array">The float[16] GL world matrix of this RigidBody</param>
|
||||
void SetOpenGLMatrix(float float_array __gc[])
|
||||
{
|
||||
float matrix[16];
|
||||
for (int i=0; i<16; i++)
|
||||
matrix[i] = float_array[i];
|
||||
plSetOpenGLMatrix(_plRigidBodyHandle, matrix);
|
||||
}
|
||||
|
||||
plRigidBodyHandle _plRigidBodyHandle;
|
||||
plCollisionShapeHandle _plCollisionShapeHandle;
|
||||
};
|
||||
|
||||
|
||||
/// <summary>
|
||||
/// Base Bullet Class</summary>
|
||||
public __gc class Bullet
|
||||
{
|
||||
public:
|
||||
/// <summary>
|
||||
/// Constructor for the Bullet</summary>
|
||||
Bullet()
|
||||
{
|
||||
m_rigidbody_count = 0;
|
||||
_plDynamicsWorldHandle = 0;
|
||||
_plPhysicsSdkHandle = plNewBulletSdk();
|
||||
}
|
||||
/// <summary>
|
||||
/// Destructor for the Bullet</summary>
|
||||
~Bullet()
|
||||
{
|
||||
plDeletePhysicsSdk(_plPhysicsSdkHandle);
|
||||
_plDynamicsWorldHandle = 0;
|
||||
_plPhysicsSdkHandle = 0;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// Step Simulation for Bullet
|
||||
/// </summary>
|
||||
/// <param name="timeStep">The amount of time to step in this simulation</param>
|
||||
void StepSimulation(plReal timeStep)
|
||||
{
|
||||
plStepSimulation(_plDynamicsWorldHandle, timeStep);
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// Create collision shape handle for sphere
|
||||
/// </summary>
|
||||
/// <param name="radius">The radius of the sphere</param>
|
||||
CollisionShapeHandle * CreateSphere(float radius)
|
||||
{
|
||||
return new CollisionShapeHandle(plNewSphereShape(radius));
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// Create collision shape handle for Box
|
||||
/// </summary>
|
||||
/// <param name="x">extend x of the box</param>
|
||||
/// <param name="y">extend y of the box</param>
|
||||
/// <param name="z">extend z of the box</param>
|
||||
CollisionShapeHandle * CreateBox(float x, float y, float z)
|
||||
{
|
||||
return new CollisionShapeHandle( plNewBoxShape(x, y, z));
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// Create collision shape handle for Capsule
|
||||
/// </summary>
|
||||
/// <param name="radius">The radius of the capsule</param>
|
||||
/// <param name="height">The height of the capsule</param>
|
||||
CollisionShapeHandle * CreateCapsule(float radius, float height)
|
||||
{
|
||||
return new CollisionShapeHandle( plNewCapsuleShape(radius, height));
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// Create collision shape handle for cone
|
||||
/// </summary>
|
||||
/// <param name="radius">The radius of the cone</param>
|
||||
/// <param name="height">The height of the cone</param>
|
||||
CollisionShapeHandle * CreateCone(float radius, float height)
|
||||
{
|
||||
return new CollisionShapeHandle( plNewConeShape(radius, height));
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// Create collision shape handle for cylinder
|
||||
/// </summary>
|
||||
/// <param name="radius">The radius of the cylinder</param>
|
||||
/// <param name="height">The height of the cylinder</param>
|
||||
CollisionShapeHandle * CreateCylinder(float radius, float height)
|
||||
{
|
||||
return new CollisionShapeHandle( plNewCylinderShape(radius, height));
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// Create a Compound Shape collision shape handle
|
||||
/// </summary>
|
||||
CollisionShapeHandle * CreateCompoundShape()
|
||||
{
|
||||
return new CollisionShapeHandle( plNewCompoundShape());
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// Add shape to this Compound Shape collision shape handle
|
||||
/// </summary>
|
||||
/// <param name="compoundShape">compoundShape</param>
|
||||
/// <param name="childShape">childShape</param>
|
||||
/// <param name="childPos">childPos</param>
|
||||
/// <param name="childOrn">childOrn</param>
|
||||
void AddCompoundShape(CollisionShapeHandle * compoundShape, CollisionShapeHandle * childShape, plVector3 childPos,plQuaternion childOrn)
|
||||
{
|
||||
plAddChildShape(compoundShape->_plCollisionShapeHandle, childShape->_plCollisionShapeHandle, childPos,childOrn);
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// Destroy a collision shape handle
|
||||
/// </summary>
|
||||
void DestroyShape(CollisionShapeHandle * shape)
|
||||
{
|
||||
plDeleteShape(shape->_plCollisionShapeHandle);
|
||||
delete shape;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// Create collision shape handle for Convex Meshes
|
||||
/// </summary>
|
||||
CollisionShapeHandle * CreateConvexHull()
|
||||
{
|
||||
return new CollisionShapeHandle(plNewConvexHullShape());
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// Add Convex Hull Vertex to the Convex Mesh shape handle
|
||||
/// </summary>
|
||||
void AddConvexHullVertex(CollisionShapeHandle * handle, float x, float y, float z)
|
||||
{
|
||||
plAddVertex(handle->_plCollisionShapeHandle, x, y, z);
|
||||
}
|
||||
|
||||
/* CollisionShapeHandle * CreateTriangleMesh()
|
||||
{
|
||||
MeshInterfaceHandle * handle = new MeshInterfaceHandle(plNewMeshInterface());
|
||||
|
||||
return new CollisionShapeHandle(plNewStaticTriangleMeshShape(handle->_plMeshInterfaceHandle));
|
||||
}
|
||||
|
||||
MeshInterfaceHandle * CreateMeshInterface()
|
||||
{
|
||||
|
||||
return new MeshInterfaceHandle(plNewMeshInterface());
|
||||
}
|
||||
/*
|
||||
void AddMeshTriangle(MeshInterfaceHandle * handle, float * v0, float * v1,float * v2)
|
||||
{
|
||||
plAddTriangle(handle->_plMeshInterfaceHandle, v0, v1, v2);
|
||||
}
|
||||
/*
|
||||
CollisionShapeHandle * CreateTriangleMesh(MeshInterfaceHandle * handle)
|
||||
{
|
||||
return new CollisionShapeHandle(plNewStaticTriangleMeshShape(handle->_plMeshInterfaceHandle));
|
||||
}
|
||||
*/ /* Concave static triangle meshes */
|
||||
/* extern void plAddTriangle(plMeshInterfaceHandle meshHandle, plVector3 v0,plVector3 v1,plVector3 v2);
|
||||
extern plCollisionShapeHandle plNewStaticTriangleMeshShape(plMeshInterfaceHandle);
|
||||
extern void plSetScaling(plCollisionShapeHandle shape, plVector3 scaling);
|
||||
*/
|
||||
|
||||
void SetEuler(float yaw, float pitch, float roll, float * orient)
|
||||
{
|
||||
plSetEuler(yaw, pitch, roll, orient);
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// Add RigidBody, If won't haven't created a dynamic world, create one
|
||||
/// </summary>
|
||||
void AddRigidBody(RigidBody * body)
|
||||
{
|
||||
if (m_rigidbody_count == 0)
|
||||
CreateDynamicsWorld();
|
||||
plAddRigidBody(_plDynamicsWorldHandle, body->_plRigidBodyHandle);
|
||||
m_rigidbody_count++;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// Remove RigidBody, If we remove everything in this dynamic world, we destroy the dynamic world
|
||||
/// </summary>
|
||||
void RemoveRigidBody(RigidBody * body)
|
||||
{
|
||||
plRemoveRigidBody(_plDynamicsWorldHandle, body->_plRigidBodyHandle);
|
||||
m_rigidbody_count--;
|
||||
if (m_rigidbody_count == 0)
|
||||
DestroyDynamicsWorld();
|
||||
}
|
||||
private:
|
||||
/// <summary>
|
||||
/// Create a Dynamic World
|
||||
/// </summary>
|
||||
void CreateDynamicsWorld ()
|
||||
{
|
||||
_plDynamicsWorldHandle = plCreateDynamicsWorld(_plPhysicsSdkHandle);
|
||||
}
|
||||
/// <summary>
|
||||
/// Destroy a Dynamic World
|
||||
/// </summary>
|
||||
void DestroyDynamicsWorld()
|
||||
{
|
||||
plDeleteDynamicsWorld(_plDynamicsWorldHandle);
|
||||
}
|
||||
|
||||
// The count of rigidbody in this world.
|
||||
int m_rigidbody_count;
|
||||
plPhysicsSdkHandle _plPhysicsSdkHandle;
|
||||
|
||||
// This wrapper will let you support only one world at a time.
|
||||
plDynamicsWorldHandle _plDynamicsWorldHandle;
|
||||
};
|
||||
}
|
||||
}
|
||||
52
Extras/obsolete/CSharpWrapper/Program.cs
Normal file
52
Extras/obsolete/CSharpWrapper/Program.cs
Normal file
@@ -0,0 +1,52 @@
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using System.Windows.Forms;
|
||||
|
||||
using Scea.BulletPhysics;
|
||||
|
||||
namespace bulletapp
|
||||
{
|
||||
static class Program
|
||||
{
|
||||
/// <summary>
|
||||
/// The main entry point for the application.
|
||||
/// </summary>
|
||||
[STAThread]
|
||||
static void Main()
|
||||
{
|
||||
Bullet bullet = new Bullet();
|
||||
|
||||
CollisionShapeHandle s_handle = bullet.CreateSphere(1);
|
||||
RigidBody body = new RigidBody(1, s_handle);
|
||||
float [] position = new float[3];
|
||||
position[0] = 1.0f; position[1] = 1.1f; position[2] = 1.2f;
|
||||
body.SetPosition(position);
|
||||
body.SetOrientation(0.1f, 0.2f, 0.3f);
|
||||
|
||||
bullet.AddRigidBody(body);
|
||||
System.Console.WriteLine("Original Position (" + position[0] + ", " + position[1] + ", " + position[2] + ")");
|
||||
|
||||
float[] new_position = new float[3];
|
||||
for (int i = 0; i < 10; i++)
|
||||
{
|
||||
bullet.StepSimulation(0.1f);
|
||||
System.Console.WriteLine("StepSimulation " + 0.1);
|
||||
body.GetPosition(new_position);
|
||||
System.Console.WriteLine("New Position (" + new_position[0] + ", " + new_position[1] + ", " + new_position[2] + ")");
|
||||
}
|
||||
|
||||
float[] matrix = new float[16];
|
||||
body.GetOpenGLMatrix(matrix);
|
||||
System.Console.WriteLine("GetOpenGLMatrix (" +
|
||||
matrix[0] + ", " + matrix[1] + ", " + matrix[2] + ", " + matrix[3] + ", " +
|
||||
matrix[4] + ", " + matrix[5] + ", " + matrix[6] + ", " + matrix[7] + ", " +
|
||||
matrix[8] + ", " + matrix[9] + ", " + matrix[10] + ", " + matrix[11] + ", " +
|
||||
matrix[12] + ", " + matrix[13] + ", " + matrix[14] + ", " + matrix[15] + ")"
|
||||
);
|
||||
|
||||
float[] quot = new float[4];
|
||||
body.GetOrientation(quot);
|
||||
System.Console.WriteLine("GetOrientation (" + quot[0] + ", " + quot[1] + ", " + quot[2] + ", " + quot[3] + ")");
|
||||
}
|
||||
}
|
||||
}
|
||||
33
Extras/obsolete/CSharpWrapper/Properties/AssemblyInfo.cs
Normal file
33
Extras/obsolete/CSharpWrapper/Properties/AssemblyInfo.cs
Normal file
@@ -0,0 +1,33 @@
|
||||
using System.Reflection;
|
||||
using System.Runtime.CompilerServices;
|
||||
using System.Runtime.InteropServices;
|
||||
|
||||
// General Information about an assembly is controlled through the following
|
||||
// set of attributes. Change these attribute values to modify the information
|
||||
// associated with an assembly.
|
||||
[assembly: AssemblyTitle("bulletapp")]
|
||||
[assembly: AssemblyDescription("")]
|
||||
[assembly: AssemblyConfiguration("")]
|
||||
[assembly: AssemblyCompany("PlayStation")]
|
||||
[assembly: AssemblyProduct("bulletapp")]
|
||||
[assembly: AssemblyCopyright("Copyright © PlayStation 2008")]
|
||||
[assembly: AssemblyTrademark("")]
|
||||
[assembly: AssemblyCulture("")]
|
||||
|
||||
// Setting ComVisible to false makes the types in this assembly not visible
|
||||
// to COM components. If you need to access a type in this assembly from
|
||||
// COM, set the ComVisible attribute to true on that type.
|
||||
[assembly: ComVisible(false)]
|
||||
|
||||
// The following GUID is for the ID of the typelib if this project is exposed to COM
|
||||
[assembly: Guid("0cae17bf-da40-4b83-8ce2-d21c5d1ec28a")]
|
||||
|
||||
// Version information for an assembly consists of the following four values:
|
||||
//
|
||||
// Major Version
|
||||
// Minor Version
|
||||
// Build Number
|
||||
// Revision
|
||||
//
|
||||
[assembly: AssemblyVersion("1.0.0.0")]
|
||||
[assembly: AssemblyFileVersion("1.0.0.0")]
|
||||
63
Extras/obsolete/CSharpWrapper/Properties/Resources.Designer.cs
generated
Normal file
63
Extras/obsolete/CSharpWrapper/Properties/Resources.Designer.cs
generated
Normal file
@@ -0,0 +1,63 @@
|
||||
//------------------------------------------------------------------------------
|
||||
// <auto-generated>
|
||||
// This code was generated by a tool.
|
||||
// Runtime Version:2.0.50727.1433
|
||||
//
|
||||
// Changes to this file may cause incorrect behavior and will be lost if
|
||||
// the code is regenerated.
|
||||
// </auto-generated>
|
||||
//------------------------------------------------------------------------------
|
||||
|
||||
namespace bulletapp.Properties {
|
||||
using System;
|
||||
|
||||
|
||||
/// <summary>
|
||||
/// A strongly-typed resource class, for looking up localized strings, etc.
|
||||
/// </summary>
|
||||
// This class was auto-generated by the StronglyTypedResourceBuilder
|
||||
// class via a tool like ResGen or Visual Studio.
|
||||
// To add or remove a member, edit your .ResX file then rerun ResGen
|
||||
// with the /str option, or rebuild your VS project.
|
||||
[global::System.CodeDom.Compiler.GeneratedCodeAttribute("System.Resources.Tools.StronglyTypedResourceBuilder", "2.0.0.0")]
|
||||
[global::System.Diagnostics.DebuggerNonUserCodeAttribute()]
|
||||
[global::System.Runtime.CompilerServices.CompilerGeneratedAttribute()]
|
||||
internal class Resources {
|
||||
|
||||
private static global::System.Resources.ResourceManager resourceMan;
|
||||
|
||||
private static global::System.Globalization.CultureInfo resourceCulture;
|
||||
|
||||
[global::System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1811:AvoidUncalledPrivateCode")]
|
||||
internal Resources() {
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// Returns the cached ResourceManager instance used by this class.
|
||||
/// </summary>
|
||||
[global::System.ComponentModel.EditorBrowsableAttribute(global::System.ComponentModel.EditorBrowsableState.Advanced)]
|
||||
internal static global::System.Resources.ResourceManager ResourceManager {
|
||||
get {
|
||||
if (object.ReferenceEquals(resourceMan, null)) {
|
||||
global::System.Resources.ResourceManager temp = new global::System.Resources.ResourceManager("bulletapp.Properties.Resources", typeof(Resources).Assembly);
|
||||
resourceMan = temp;
|
||||
}
|
||||
return resourceMan;
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// Overrides the current thread's CurrentUICulture property for all
|
||||
/// resource lookups using this strongly typed resource class.
|
||||
/// </summary>
|
||||
[global::System.ComponentModel.EditorBrowsableAttribute(global::System.ComponentModel.EditorBrowsableState.Advanced)]
|
||||
internal static global::System.Globalization.CultureInfo Culture {
|
||||
get {
|
||||
return resourceCulture;
|
||||
}
|
||||
set {
|
||||
resourceCulture = value;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
117
Extras/obsolete/CSharpWrapper/Properties/Resources.resx
Normal file
117
Extras/obsolete/CSharpWrapper/Properties/Resources.resx
Normal file
@@ -0,0 +1,117 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<root>
|
||||
<!--
|
||||
Microsoft ResX Schema
|
||||
|
||||
Version 2.0
|
||||
|
||||
The primary goals of this format is to allow a simple XML format
|
||||
that is mostly human readable. The generation and parsing of the
|
||||
various data types are done through the TypeConverter classes
|
||||
associated with the data types.
|
||||
|
||||
Example:
|
||||
|
||||
... ado.net/XML headers & schema ...
|
||||
<resheader name="resmimetype">text/microsoft-resx</resheader>
|
||||
<resheader name="version">2.0</resheader>
|
||||
<resheader name="reader">System.Resources.ResXResourceReader, System.Windows.Forms, ...</resheader>
|
||||
<resheader name="writer">System.Resources.ResXResourceWriter, System.Windows.Forms, ...</resheader>
|
||||
<data name="Name1"><value>this is my long string</value><comment>this is a comment</comment></data>
|
||||
<data name="Color1" type="System.Drawing.Color, System.Drawing">Blue</data>
|
||||
<data name="Bitmap1" mimetype="application/x-microsoft.net.object.binary.base64">
|
||||
<value>[base64 mime encoded serialized .NET Framework object]</value>
|
||||
</data>
|
||||
<data name="Icon1" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
|
||||
<value>[base64 mime encoded string representing a byte array form of the .NET Framework object]</value>
|
||||
<comment>This is a comment</comment>
|
||||
</data>
|
||||
|
||||
There are any number of "resheader" rows that contain simple
|
||||
name/value pairs.
|
||||
|
||||
Each data row contains a name, and value. The row also contains a
|
||||
type or mimetype. Type corresponds to a .NET class that support
|
||||
text/value conversion through the TypeConverter architecture.
|
||||
Classes that don't support this are serialized and stored with the
|
||||
mimetype set.
|
||||
|
||||
The mimetype is used for serialized objects, and tells the
|
||||
ResXResourceReader how to depersist the object. This is currently not
|
||||
extensible. For a given mimetype the value must be set accordingly:
|
||||
|
||||
Note - application/x-microsoft.net.object.binary.base64 is the format
|
||||
that the ResXResourceWriter will generate, however the reader can
|
||||
read any of the formats listed below.
|
||||
|
||||
mimetype: application/x-microsoft.net.object.binary.base64
|
||||
value : The object must be serialized with
|
||||
: System.Serialization.Formatters.Binary.BinaryFormatter
|
||||
: and then encoded with base64 encoding.
|
||||
|
||||
mimetype: application/x-microsoft.net.object.soap.base64
|
||||
value : The object must be serialized with
|
||||
: System.Runtime.Serialization.Formatters.Soap.SoapFormatter
|
||||
: and then encoded with base64 encoding.
|
||||
|
||||
mimetype: application/x-microsoft.net.object.bytearray.base64
|
||||
value : The object must be serialized into a byte array
|
||||
: using a System.ComponentModel.TypeConverter
|
||||
: and then encoded with base64 encoding.
|
||||
-->
|
||||
<xsd:schema id="root" xmlns="" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:msdata="urn:schemas-microsoft-com:xml-msdata">
|
||||
<xsd:element name="root" msdata:IsDataSet="true">
|
||||
<xsd:complexType>
|
||||
<xsd:choice maxOccurs="unbounded">
|
||||
<xsd:element name="metadata">
|
||||
<xsd:complexType>
|
||||
<xsd:sequence>
|
||||
<xsd:element name="value" type="xsd:string" minOccurs="0" />
|
||||
</xsd:sequence>
|
||||
<xsd:attribute name="name" type="xsd:string" />
|
||||
<xsd:attribute name="type" type="xsd:string" />
|
||||
<xsd:attribute name="mimetype" type="xsd:string" />
|
||||
</xsd:complexType>
|
||||
</xsd:element>
|
||||
<xsd:element name="assembly">
|
||||
<xsd:complexType>
|
||||
<xsd:attribute name="alias" type="xsd:string" />
|
||||
<xsd:attribute name="name" type="xsd:string" />
|
||||
</xsd:complexType>
|
||||
</xsd:element>
|
||||
<xsd:element name="data">
|
||||
<xsd:complexType>
|
||||
<xsd:sequence>
|
||||
<xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
|
||||
<xsd:element name="comment" type="xsd:string" minOccurs="0" msdata:Ordinal="2" />
|
||||
</xsd:sequence>
|
||||
<xsd:attribute name="name" type="xsd:string" msdata:Ordinal="1" />
|
||||
<xsd:attribute name="type" type="xsd:string" msdata:Ordinal="3" />
|
||||
<xsd:attribute name="mimetype" type="xsd:string" msdata:Ordinal="4" />
|
||||
</xsd:complexType>
|
||||
</xsd:element>
|
||||
<xsd:element name="resheader">
|
||||
<xsd:complexType>
|
||||
<xsd:sequence>
|
||||
<xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
|
||||
</xsd:sequence>
|
||||
<xsd:attribute name="name" type="xsd:string" use="required" />
|
||||
</xsd:complexType>
|
||||
</xsd:element>
|
||||
</xsd:choice>
|
||||
</xsd:complexType>
|
||||
</xsd:element>
|
||||
</xsd:schema>
|
||||
<resheader name="resmimetype">
|
||||
<value>text/microsoft-resx</value>
|
||||
</resheader>
|
||||
<resheader name="version">
|
||||
<value>2.0</value>
|
||||
</resheader>
|
||||
<resheader name="reader">
|
||||
<value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
|
||||
</resheader>
|
||||
<resheader name="writer">
|
||||
<value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
|
||||
</resheader>
|
||||
</root>
|
||||
26
Extras/obsolete/CSharpWrapper/Properties/Settings.Designer.cs
generated
Normal file
26
Extras/obsolete/CSharpWrapper/Properties/Settings.Designer.cs
generated
Normal file
@@ -0,0 +1,26 @@
|
||||
//------------------------------------------------------------------------------
|
||||
// <auto-generated>
|
||||
// This code was generated by a tool.
|
||||
// Runtime Version:2.0.50727.1433
|
||||
//
|
||||
// Changes to this file may cause incorrect behavior and will be lost if
|
||||
// the code is regenerated.
|
||||
// </auto-generated>
|
||||
//------------------------------------------------------------------------------
|
||||
|
||||
namespace bulletapp.Properties {
|
||||
|
||||
|
||||
[global::System.Runtime.CompilerServices.CompilerGeneratedAttribute()]
|
||||
[global::System.CodeDom.Compiler.GeneratedCodeAttribute("Microsoft.VisualStudio.Editors.SettingsDesigner.SettingsSingleFileGenerator", "8.0.0.0")]
|
||||
internal sealed partial class Settings : global::System.Configuration.ApplicationSettingsBase {
|
||||
|
||||
private static Settings defaultInstance = ((Settings)(global::System.Configuration.ApplicationSettingsBase.Synchronized(new Settings())));
|
||||
|
||||
public static Settings Default {
|
||||
get {
|
||||
return defaultInstance;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,7 @@
|
||||
<?xml version='1.0' encoding='utf-8'?>
|
||||
<SettingsFile xmlns="http://schemas.microsoft.com/VisualStudio/2004/01/settings" CurrentProfile="(Default)">
|
||||
<Profiles>
|
||||
<Profile Name="(Default)" />
|
||||
</Profiles>
|
||||
<Settings />
|
||||
</SettingsFile>
|
||||
569
Extras/obsolete/EPA/Epa.cpp
Normal file
569
Extras/obsolete/EPA/Epa.cpp
Normal file
@@ -0,0 +1,569 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
||||
|
||||
EPA Copyright (c) Ricardo Padrela 2006
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
#include "LinearMath/btScalar.h"
|
||||
#include "LinearMath/btVector3.h"
|
||||
#include "LinearMath/btPoint3.h"
|
||||
#include "LinearMath/btTransform.h"
|
||||
#include "LinearMath/btMinMax.h"
|
||||
|
||||
#include "BulletCollision/CollisionShapes/btConvexShape.h"
|
||||
|
||||
#include <vector>
|
||||
#include <list>
|
||||
#include <algorithm>
|
||||
|
||||
#include "BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h"
|
||||
|
||||
#include "EpaCommon.h"
|
||||
|
||||
#include "EpaVertex.h"
|
||||
#include "EpaHalfEdge.h"
|
||||
#include "EpaFace.h"
|
||||
#include "EpaPolyhedron.h"
|
||||
#include "Epa.h"
|
||||
|
||||
const btScalar EPA_MAX_RELATIVE_ERROR = 1e-2f;
|
||||
const btScalar EPA_MAX_RELATIVE_ERROR_SQRD = EPA_MAX_RELATIVE_ERROR * EPA_MAX_RELATIVE_ERROR;
|
||||
|
||||
Epa::Epa( btConvexShape* pConvexShapeA, btConvexShape* pConvexShapeB,
|
||||
const btTransform& transformA, const btTransform& transformB ) : m_pConvexShapeA( pConvexShapeA ),
|
||||
m_pConvexShapeB( pConvexShapeB ),
|
||||
m_transformA( transformA ),
|
||||
m_transformB( transformB )
|
||||
{
|
||||
m_faceEntries.reserve( EPA_MAX_FACE_ENTRIES );
|
||||
}
|
||||
|
||||
Epa::~Epa()
|
||||
{
|
||||
}
|
||||
|
||||
bool Epa::Initialize( btSimplexSolverInterface& simplexSolver )
|
||||
{
|
||||
// Run GJK on the enlarged shapes to obtain a simplex of the enlarged CSO
|
||||
|
||||
btVector3 v( 1, 0, 0 );
|
||||
btScalar squaredDistance = SIMD_INFINITY;
|
||||
|
||||
btScalar delta = 0.f;
|
||||
|
||||
simplexSolver.reset();
|
||||
|
||||
int nbIterations = 0;
|
||||
|
||||
while ( true )
|
||||
{
|
||||
EPA_DEBUG_ASSERT( ( v.length2() > 0 ) ,"Warning : v has zero magnitude!" );
|
||||
|
||||
btVector3 seperatingAxisInA = -v * m_transformA.getBasis();
|
||||
btVector3 seperatingAxisInB = v * m_transformB.getBasis();
|
||||
|
||||
btVector3 pInA = m_pConvexShapeA->localGetSupportingVertex( seperatingAxisInA );
|
||||
btVector3 qInB = m_pConvexShapeB->localGetSupportingVertex( seperatingAxisInB );
|
||||
|
||||
btPoint3 pWorld = m_transformA( pInA );
|
||||
btPoint3 qWorld = m_transformB( qInB );
|
||||
|
||||
btVector3 w = pWorld - qWorld;
|
||||
delta = v.dot( w );
|
||||
|
||||
EPA_DEBUG_ASSERT( ( delta <= 0 ) ,"Shapes are disjoint, EPA should have never been called!" );
|
||||
if ( delta > 0.f )
|
||||
return false;
|
||||
|
||||
EPA_DEBUG_ASSERT( !simplexSolver.inSimplex( w ) ,"Shapes are disjoint, EPA should have never been called!" );
|
||||
if (simplexSolver.inSimplex( w ))
|
||||
return false;
|
||||
|
||||
// Add support point to simplex
|
||||
simplexSolver.addVertex( w, pWorld, qWorld );
|
||||
|
||||
bool closestOk = simplexSolver.closest( v );
|
||||
EPA_DEBUG_ASSERT( closestOk ,"Shapes are disjoint, EPA should have never been called!" );
|
||||
if (!closestOk)
|
||||
return false;
|
||||
|
||||
btScalar prevVSqrd = squaredDistance;
|
||||
squaredDistance = v.length2();
|
||||
|
||||
// Is v converging to v(A-B) ?
|
||||
EPA_DEBUG_ASSERT( ( ( prevVSqrd - squaredDistance ) > SIMD_EPSILON * prevVSqrd ) ,
|
||||
"Shapes are disjoint, EPA should have never been called!" );
|
||||
if (( ( prevVSqrd - squaredDistance ) <= SIMD_EPSILON * prevVSqrd ))
|
||||
return false;
|
||||
|
||||
if ( simplexSolver.fullSimplex() || ( squaredDistance <= SIMD_EPSILON * simplexSolver.maxVertex() ) )
|
||||
{
|
||||
break;
|
||||
}
|
||||
|
||||
++nbIterations;
|
||||
}
|
||||
|
||||
btPoint3 simplexPoints[ 5 ];
|
||||
btPoint3 wSupportPointsOnA[ 5 ];
|
||||
btPoint3 wSupportPointsOnB[ 5 ];
|
||||
|
||||
int nbSimplexPoints = simplexSolver.getSimplex( wSupportPointsOnA, wSupportPointsOnB, simplexPoints );
|
||||
|
||||
// nbSimplexPoints can't be one because cases where the origin is on the boundary are handled
|
||||
// by hybrid penetration depth
|
||||
EPA_DEBUG_ASSERT( ( ( nbSimplexPoints > 1 ) ,( nbSimplexPoints <= 4 ) ) ,
|
||||
"Hybrid Penetration Depth algorithm failed!" );
|
||||
|
||||
int nbPolyhedronPoints = nbSimplexPoints;
|
||||
|
||||
#ifndef EPA_POLYHEDRON_USE_PLANES
|
||||
int initTetraIndices[ 4 ] = { 0, 1, 2, 3 };
|
||||
#endif
|
||||
|
||||
// Prepare initial polyhedron to start EPA from
|
||||
if ( nbSimplexPoints == 1 )
|
||||
{
|
||||
return false;
|
||||
}
|
||||
else if ( nbSimplexPoints == 2 )
|
||||
{
|
||||
// We have a line segment inside the CSO that contains the origin
|
||||
// Create an hexahedron ( two tetrahedron glued together ) by adding 3 new points
|
||||
|
||||
btVector3 d = simplexPoints[ 0 ] - simplexPoints[ 1 ];
|
||||
d.normalize();
|
||||
|
||||
btVector3 v1;
|
||||
btVector3 v2;
|
||||
btVector3 v3;
|
||||
|
||||
btVector3 e1;
|
||||
|
||||
btScalar absx = abs( d.getX() );
|
||||
btScalar absy = abs( d.getY() );
|
||||
btScalar absz = abs( d.getZ() );
|
||||
|
||||
if ( absx < absy )
|
||||
{
|
||||
if ( absx < absz )
|
||||
{
|
||||
e1.setX( 1 );
|
||||
}
|
||||
else
|
||||
{
|
||||
e1.setZ( 1 );
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
if ( absy < absz )
|
||||
{
|
||||
e1.setY( 1 );
|
||||
}
|
||||
else
|
||||
{
|
||||
e1.setZ( 1 );
|
||||
}
|
||||
}
|
||||
|
||||
v1 = d.cross( e1 );
|
||||
v1.normalize();
|
||||
|
||||
v2 = v1.rotate( d, 120 * SIMD_RADS_PER_DEG );
|
||||
v3 = v2.rotate( d, 120 * SIMD_RADS_PER_DEG );
|
||||
|
||||
nbPolyhedronPoints = 5;
|
||||
|
||||
btVector3 seperatingAxisInA = v1 * m_transformA.getBasis();
|
||||
btVector3 seperatingAxisInB = -v1 * m_transformB.getBasis();
|
||||
|
||||
btVector3 p = m_pConvexShapeA->localGetSupportingVertex( seperatingAxisInA );
|
||||
btVector3 q = m_pConvexShapeB->localGetSupportingVertex( seperatingAxisInB );
|
||||
|
||||
btPoint3 pWorld = m_transformA( p );
|
||||
btPoint3 qWorld = m_transformB( q );
|
||||
|
||||
wSupportPointsOnA[ 2 ] = pWorld;
|
||||
wSupportPointsOnB[ 2 ] = qWorld;
|
||||
simplexPoints[ 2 ] = wSupportPointsOnA[ 2 ] - wSupportPointsOnB[ 2 ];
|
||||
|
||||
seperatingAxisInA = v2 * m_transformA.getBasis();
|
||||
seperatingAxisInB = -v2 * m_transformB.getBasis();
|
||||
|
||||
p = m_pConvexShapeA->localGetSupportingVertex( seperatingAxisInA );
|
||||
q = m_pConvexShapeB->localGetSupportingVertex( seperatingAxisInB );
|
||||
|
||||
pWorld = m_transformA( p );
|
||||
qWorld = m_transformB( q );
|
||||
|
||||
wSupportPointsOnA[ 3 ] = pWorld;
|
||||
wSupportPointsOnB[ 3 ] = qWorld;
|
||||
simplexPoints[ 3 ] = wSupportPointsOnA[ 3 ] - wSupportPointsOnB[ 3 ];
|
||||
|
||||
seperatingAxisInA = v3 * m_transformA.getBasis();
|
||||
seperatingAxisInB = -v3 * m_transformB.getBasis();
|
||||
|
||||
p = m_pConvexShapeA->localGetSupportingVertex( seperatingAxisInA );
|
||||
q = m_pConvexShapeB->localGetSupportingVertex( seperatingAxisInB );
|
||||
|
||||
pWorld = m_transformA( p );
|
||||
qWorld = m_transformB( q );
|
||||
|
||||
wSupportPointsOnA[ 4 ] = pWorld;
|
||||
wSupportPointsOnB[ 4 ] = qWorld;
|
||||
simplexPoints[ 4 ] = wSupportPointsOnA[ 4 ] - wSupportPointsOnB[ 4 ];
|
||||
|
||||
#ifndef EPA_POLYHEDRON_USE_PLANES
|
||||
if ( TetrahedronContainsOrigin( simplexPoints[ 0 ], simplexPoints[ 2 ], simplexPoints[ 3 ], simplexPoints[ 4 ] ) )
|
||||
{
|
||||
initTetraIndices[ 1 ] = 2;
|
||||
initTetraIndices[ 2 ] = 3;
|
||||
initTetraIndices[ 3 ] = 4;
|
||||
}
|
||||
else
|
||||
{
|
||||
if ( TetrahedronContainsOrigin( simplexPoints[ 1 ], simplexPoints[ 2 ], simplexPoints[ 3 ], simplexPoints[ 4 ] ) )
|
||||
{
|
||||
initTetraIndices[ 0 ] = 1;
|
||||
initTetraIndices[ 1 ] = 2;
|
||||
initTetraIndices[ 2 ] = 3;
|
||||
initTetraIndices[ 3 ] = 4;
|
||||
}
|
||||
else
|
||||
{
|
||||
// No tetrahedron contains the origin
|
||||
assert( false && "Unable to find an initial tetrahedron that contains the origin!" );
|
||||
return false;
|
||||
}
|
||||
}
|
||||
#endif
|
||||
}
|
||||
else if ( nbSimplexPoints == 3 )
|
||||
{
|
||||
// We have a triangle inside the CSO that contains the origin
|
||||
// Create an hexahedron ( two tetrahedron glued together ) by adding 2 new points
|
||||
|
||||
btVector3 v0 = simplexPoints[ 2 ] - simplexPoints[ 0 ];
|
||||
btVector3 v1 = simplexPoints[ 1 ] - simplexPoints[ 0 ];
|
||||
btVector3 triangleNormal = v0.cross( v1 );
|
||||
triangleNormal.normalize();
|
||||
|
||||
nbPolyhedronPoints = 5;
|
||||
|
||||
btVector3 seperatingAxisInA = triangleNormal * m_transformA.getBasis();
|
||||
btVector3 seperatingAxisInB = -triangleNormal * m_transformB.getBasis();
|
||||
|
||||
btVector3 p = m_pConvexShapeA->localGetSupportingVertex( seperatingAxisInA );
|
||||
btVector3 q = m_pConvexShapeB->localGetSupportingVertex( seperatingAxisInB );
|
||||
|
||||
btPoint3 pWorld = m_transformA( p );
|
||||
btPoint3 qWorld = m_transformB( q );
|
||||
|
||||
wSupportPointsOnA[ 3 ] = pWorld;
|
||||
wSupportPointsOnB[ 3 ] = qWorld;
|
||||
simplexPoints[ 3 ] = wSupportPointsOnA[ 3 ] - wSupportPointsOnB[ 3 ];
|
||||
|
||||
#ifndef EPA_POLYHEDRON_USE_PLANES
|
||||
// We place this check here because if the tetrahedron contains the origin
|
||||
// there is no need to sample another support point
|
||||
if ( !TetrahedronContainsOrigin( simplexPoints[ 0 ], simplexPoints[ 1 ], simplexPoints[ 2 ], simplexPoints[ 3 ] ) )
|
||||
{
|
||||
#endif
|
||||
seperatingAxisInA = -triangleNormal * m_transformA.getBasis();
|
||||
seperatingAxisInB = triangleNormal * m_transformB.getBasis();
|
||||
|
||||
p = m_pConvexShapeA->localGetSupportingVertex( seperatingAxisInA );
|
||||
q = m_pConvexShapeB->localGetSupportingVertex( seperatingAxisInB );
|
||||
|
||||
pWorld = m_transformA( p );
|
||||
qWorld = m_transformB( q );
|
||||
|
||||
wSupportPointsOnA[ 4 ] = pWorld;
|
||||
wSupportPointsOnB[ 4 ] = qWorld;
|
||||
simplexPoints[ 4 ] = wSupportPointsOnA[ 4 ] - wSupportPointsOnB[ 4 ];
|
||||
|
||||
#ifndef EPA_POLYHEDRON_USE_PLANES
|
||||
if ( TetrahedronContainsOrigin( simplexPoints[ 0 ], simplexPoints[ 1 ], simplexPoints[ 2 ], simplexPoints[ 4 ] ) )
|
||||
{
|
||||
initTetraIndices[ 3 ] = 4;
|
||||
}
|
||||
else
|
||||
{
|
||||
// No tetrahedron contains the origin
|
||||
assert( false && "Unable to find an initial tetrahedron that contains the origin!" );
|
||||
return false;
|
||||
}
|
||||
}
|
||||
#endif
|
||||
}
|
||||
#ifdef _DEBUG
|
||||
else if ( nbSimplexPoints == 4 )
|
||||
{
|
||||
EPA_DEBUG_ASSERT( TetrahedronContainsOrigin( simplexPoints ) ,"Initial tetrahedron does not contain the origin!" );
|
||||
}
|
||||
#endif
|
||||
|
||||
#ifndef EPA_POLYHEDRON_USE_PLANES
|
||||
btPoint3 wTetraPoints[ 4 ] = { simplexPoints[ initTetraIndices[ 0 ] ],
|
||||
simplexPoints[ initTetraIndices[ 1 ] ],
|
||||
simplexPoints[ initTetraIndices[ 2 ] ],
|
||||
simplexPoints[ initTetraIndices[ 3 ] ] };
|
||||
|
||||
btPoint3 wTetraSupportPointsOnA[ 4 ] = { wSupportPointsOnA[ initTetraIndices[ 0 ] ],
|
||||
wSupportPointsOnA[ initTetraIndices[ 1 ] ],
|
||||
wSupportPointsOnA[ initTetraIndices[ 2 ] ],
|
||||
wSupportPointsOnA[ initTetraIndices[ 3 ] ] };
|
||||
|
||||
btPoint3 wTetraSupportPointsOnB[ 4 ] = { wSupportPointsOnB[ initTetraIndices[ 0 ] ],
|
||||
wSupportPointsOnB[ initTetraIndices[ 1 ] ],
|
||||
wSupportPointsOnB[ initTetraIndices[ 2 ] ],
|
||||
wSupportPointsOnB[ initTetraIndices[ 3 ] ] };
|
||||
#endif
|
||||
|
||||
#ifdef EPA_POLYHEDRON_USE_PLANES
|
||||
if ( !m_polyhedron.Create( simplexPoints, wSupportPointsOnA, wSupportPointsOnB, nbPolyhedronPoints ) )
|
||||
#else
|
||||
if ( !m_polyhedron.Create( wTetraPoints, wTetraSupportPointsOnA, wTetraSupportPointsOnB, 4 ) )
|
||||
#endif
|
||||
{
|
||||
// Failed to create initial polyhedron
|
||||
EPA_DEBUG_ASSERT( false ,"Failed to create initial polyhedron!" );
|
||||
return false;
|
||||
}
|
||||
|
||||
// Add initial faces to priority queue
|
||||
|
||||
#ifdef _DEBUG
|
||||
//m_polyhedron._dbgSaveToFile( "epa_start.dbg" );
|
||||
#endif
|
||||
|
||||
std::list< EpaFace* >& faces = m_polyhedron.GetFaces();
|
||||
|
||||
std::list< EpaFace* >::iterator facesItr( faces.begin() );
|
||||
|
||||
while ( facesItr != faces.end() )
|
||||
{
|
||||
EpaFace* pFace = *facesItr;
|
||||
|
||||
if ( !pFace->m_deleted )
|
||||
{
|
||||
//#ifdef EPA_POLYHEDRON_USE_PLANES
|
||||
// if ( pFace->m_planeDistance >= 0 )
|
||||
// {
|
||||
// m_polyhedron._dbgSaveToFile( "epa_start.dbg" );
|
||||
// assert( false && "Face's plane distance equal or greater than 0!" );
|
||||
// }
|
||||
//#endif
|
||||
|
||||
if ( pFace->IsAffinelyDependent() )
|
||||
{
|
||||
EPA_DEBUG_ASSERT( false ,"One initial face is affinely dependent!" );
|
||||
return false;
|
||||
}
|
||||
|
||||
if ( pFace->m_vSqrd <= 0 )
|
||||
{
|
||||
EPA_DEBUG_ASSERT( false ,"Face containing the origin!" );
|
||||
return false;
|
||||
}
|
||||
|
||||
if ( pFace->IsClosestPointInternal() )
|
||||
{
|
||||
m_faceEntries.push_back( pFace );
|
||||
std::push_heap( m_faceEntries.begin(), m_faceEntries.end(), CompareEpaFaceEntries );
|
||||
}
|
||||
}
|
||||
|
||||
++facesItr;
|
||||
}
|
||||
|
||||
#ifdef _DEBUG
|
||||
//m_polyhedron._dbgSaveToFile( "epa_start.dbg" );
|
||||
#endif
|
||||
|
||||
EPA_DEBUG_ASSERT( !m_faceEntries.empty() ,"No faces added to heap!" );
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
btScalar Epa::calcPenDepth( btPoint3& wWitnessOnA, btPoint3& wWitnessOnB )
|
||||
{
|
||||
btVector3 v;
|
||||
|
||||
btScalar upperBoundSqrd = SIMD_INFINITY;
|
||||
btScalar vSqrd = 0;
|
||||
#ifdef _DEBUG
|
||||
btScalar prevVSqrd;
|
||||
#endif
|
||||
btScalar delta;
|
||||
|
||||
bool isCloseEnough = false;
|
||||
|
||||
EpaFace* pEpaFace = NULL;
|
||||
|
||||
int nbIterations = 0;
|
||||
//int nbMaxIterations = 1000;
|
||||
|
||||
do
|
||||
{
|
||||
pEpaFace = m_faceEntries.front();
|
||||
std::pop_heap( m_faceEntries.begin(), m_faceEntries.end(), CompareEpaFaceEntries );
|
||||
m_faceEntries.pop_back();
|
||||
|
||||
if ( !pEpaFace->m_deleted )
|
||||
{
|
||||
#ifdef _DEBUG
|
||||
prevVSqrd = vSqrd;
|
||||
#endif
|
||||
|
||||
vSqrd = pEpaFace->m_vSqrd;
|
||||
|
||||
if ( pEpaFace->m_planeDistance >= 0 )
|
||||
{
|
||||
v = pEpaFace->m_planeNormal;
|
||||
}
|
||||
else
|
||||
{
|
||||
v = pEpaFace->m_v;
|
||||
}
|
||||
|
||||
#ifdef _DEBUG
|
||||
//assert_msg( vSqrd <= upperBoundSqrd, "A triangle was falsely rejected!" );
|
||||
EPA_DEBUG_ASSERT( ( vSqrd >= prevVSqrd ) ,"vSqrd decreased!" );
|
||||
#endif //_DEBUG
|
||||
EPA_DEBUG_ASSERT( ( v.length2() > 0 ) ,"Zero vector not allowed!" );
|
||||
|
||||
btVector3 seperatingAxisInA = v * m_transformA.getBasis();
|
||||
btVector3 seperatingAxisInB = -v * m_transformB.getBasis();
|
||||
|
||||
btVector3 p = m_pConvexShapeA->localGetSupportingVertex( seperatingAxisInA );
|
||||
btVector3 q = m_pConvexShapeB->localGetSupportingVertex( seperatingAxisInB );
|
||||
|
||||
btPoint3 pWorld = m_transformA( p );
|
||||
btPoint3 qWorld = m_transformB( q );
|
||||
|
||||
btPoint3 w = pWorld - qWorld;
|
||||
delta = v.dot( w );
|
||||
|
||||
// Keep tighest upper bound
|
||||
upperBoundSqrd = btMin( upperBoundSqrd, delta * delta / vSqrd );
|
||||
//assert_msg( vSqrd <= upperBoundSqrd, "A triangle was falsely rejected!" );
|
||||
|
||||
isCloseEnough = ( upperBoundSqrd <= ( 1 + 1e-4f ) * vSqrd );
|
||||
|
||||
if ( !isCloseEnough )
|
||||
{
|
||||
std::list< EpaFace* > newFaces;
|
||||
bool expandOk = m_polyhedron.Expand( w, pWorld, qWorld, pEpaFace, newFaces );
|
||||
|
||||
if ( expandOk )
|
||||
{
|
||||
EPA_DEBUG_ASSERT( !newFaces.empty() ,"EPA polyhedron not expanding ?" );
|
||||
|
||||
bool check = true;
|
||||
bool areEqual = false;
|
||||
|
||||
while ( !newFaces.empty() )
|
||||
{
|
||||
EpaFace* pNewFace = newFaces.front();
|
||||
EPA_DEBUG_ASSERT( !pNewFace->m_deleted ,"New face is deleted!" );
|
||||
|
||||
if ( !pNewFace->m_deleted )
|
||||
{
|
||||
EPA_DEBUG_ASSERT( ( pNewFace->m_vSqrd > 0 ) ,"Face containing the origin!" );
|
||||
EPA_DEBUG_ASSERT( !pNewFace->IsAffinelyDependent() ,"Face is affinely dependent!" );
|
||||
|
||||
//#ifdef EPA_POLYHEDRON_USE_PLANES
|
||||
//// if ( pNewFace->m_planeDistance >= 0 )
|
||||
//// {
|
||||
// // assert( false && "Face's plane distance greater than 0!" );
|
||||
//#ifdef _DEBUG
|
||||
//// m_polyhedron._dbgSaveToFile( "epa_beforeFix.dbg" );
|
||||
//#endif
|
||||
// //pNewFace->FixOrder();
|
||||
//#ifdef _DEBUG
|
||||
// //m_polyhedron._dbgSaveToFile( "epa_afterFix.dbg" );
|
||||
//#endif
|
||||
//// }
|
||||
//#endif
|
||||
//
|
||||
//#ifdef EPA_POLYHEDRON_USE_PLANES
|
||||
// //assert( ( pNewFace->m_planeDistance < 0 ) && "Face's plane distance equal or greater than 0!" );
|
||||
//#endif
|
||||
|
||||
if ( pNewFace->IsClosestPointInternal() && ( vSqrd <= pNewFace->m_vSqrd ) && ( pNewFace->m_vSqrd <= upperBoundSqrd ) )
|
||||
{
|
||||
m_faceEntries.push_back( pNewFace );
|
||||
std::push_heap( m_faceEntries.begin(), m_faceEntries.end(), CompareEpaFaceEntries );
|
||||
}
|
||||
}
|
||||
|
||||
newFaces.pop_front();
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
pEpaFace->CalcClosestPointOnA( wWitnessOnA );
|
||||
pEpaFace->CalcClosestPointOnB( wWitnessOnB );
|
||||
|
||||
#ifdef _DEBUG
|
||||
//m_polyhedron._dbgSaveToFile( "epa_end.dbg" );
|
||||
#endif
|
||||
|
||||
return v.length();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
++nbIterations;
|
||||
}
|
||||
while ( ( m_polyhedron.GetNbFaces() < EPA_MAX_FACE_ENTRIES ) &&/*( nbIterations < nbMaxIterations ) &&*/
|
||||
!isCloseEnough && ( m_faceEntries.size() > 0 ) && ( m_faceEntries[ 0 ]->m_vSqrd <= upperBoundSqrd ) );
|
||||
|
||||
#ifdef _DEBUG
|
||||
//m_polyhedron._dbgSaveToFile( "epa_end.dbg" );
|
||||
#endif
|
||||
|
||||
EPA_DEBUG_ASSERT( pEpaFace ,"Invalid epa face!" );
|
||||
|
||||
pEpaFace->CalcClosestPointOnA( wWitnessOnA );
|
||||
pEpaFace->CalcClosestPointOnB( wWitnessOnB );
|
||||
|
||||
return v.length();
|
||||
}
|
||||
|
||||
bool Epa::TetrahedronContainsOrigin( const btPoint3& point0, const btPoint3& point1,
|
||||
const btPoint3& point2, const btPoint3& point3 )
|
||||
{
|
||||
btVector3 facesNormals[ 4 ] = { ( point1 - point0 ).cross( point2 - point0 ),
|
||||
( point2 - point1 ).cross( point3 - point1 ),
|
||||
( point3 - point2 ).cross( point0 - point2 ),
|
||||
( point0 - point3 ).cross( point1 - point3 ) };
|
||||
|
||||
return ( ( facesNormals[ 0 ].dot( point0 ) > 0 ) != ( facesNormals[ 0 ].dot( point3 ) > 0 ) ) &&
|
||||
( ( facesNormals[ 1 ].dot( point1 ) > 0 ) != ( facesNormals[ 1 ].dot( point0 ) > 0 ) ) &&
|
||||
( ( facesNormals[ 2 ].dot( point2 ) > 0 ) != ( facesNormals[ 2 ].dot( point1 ) > 0 ) ) &&
|
||||
( ( facesNormals[ 3 ].dot( point3 ) > 0 ) != ( facesNormals[ 3 ].dot( point2 ) > 0 ) );
|
||||
}
|
||||
|
||||
bool Epa::TetrahedronContainsOrigin( btPoint3* pPoints )
|
||||
{
|
||||
return TetrahedronContainsOrigin( pPoints[ 0 ], pPoints[ 1 ], pPoints[ 2 ], pPoints[ 3 ] );
|
||||
}
|
||||
|
||||
bool CompareEpaFaceEntries( EpaFace* pFaceA, EpaFace* pFaceB )
|
||||
{
|
||||
return ( pFaceA->m_vSqrd > pFaceB->m_vSqrd );
|
||||
}
|
||||
68
Extras/obsolete/EPA/Epa.h
Normal file
68
Extras/obsolete/EPA/Epa.h
Normal file
@@ -0,0 +1,68 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
||||
|
||||
EPA Copyright (c) Ricardo Padrela 2006
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
#ifndef EPA_H
|
||||
#define EPA_H
|
||||
|
||||
#define EPA_MAX_FACE_ENTRIES 256
|
||||
|
||||
|
||||
|
||||
extern const btScalar EPA_MAX_RELATIVE_ERROR;
|
||||
extern const btScalar EPA_MAX_RELATIVE_ERROR_SQRD;
|
||||
|
||||
class Epa
|
||||
{
|
||||
private :
|
||||
|
||||
//! Prevents copying objects from this class
|
||||
Epa( const Epa& epa );
|
||||
const Epa& operator = ( const Epa& epa );
|
||||
|
||||
public :
|
||||
|
||||
Epa( btConvexShape* pConvexShapeA, btConvexShape* pConvexShapeB,
|
||||
const btTransform& transformA, const btTransform& transformB );
|
||||
~Epa();
|
||||
|
||||
bool Initialize( btSimplexSolverInterface& simplexSolver );
|
||||
|
||||
btScalar calcPenDepth( btPoint3& wWitnessOnA, btPoint3& wWitnessOnB );
|
||||
|
||||
private :
|
||||
|
||||
bool TetrahedronContainsOrigin( btPoint3* pPoints );
|
||||
bool TetrahedronContainsOrigin( const btPoint3& point0, const btPoint3& point1,
|
||||
const btPoint3& point2, const btPoint3& point3 );
|
||||
|
||||
private :
|
||||
|
||||
//! Priority queue
|
||||
std::vector< EpaFace* > m_faceEntries;
|
||||
|
||||
btConvexShape* m_pConvexShapeA;
|
||||
btConvexShape* m_pConvexShapeB;
|
||||
|
||||
btTransform m_transformA;
|
||||
btTransform m_transformB;
|
||||
|
||||
EpaPolyhedron m_polyhedron;
|
||||
};
|
||||
|
||||
extern bool CompareEpaFaceEntries( EpaFace* pFaceA, EpaFace* pFaceB );
|
||||
|
||||
#endif
|
||||
|
||||
30
Extras/obsolete/EPA/EpaCommon.h
Normal file
30
Extras/obsolete/EPA/EpaCommon.h
Normal file
@@ -0,0 +1,30 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
||||
|
||||
EPA Copyright (c) Ricardo Padrela 2006
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
#ifndef EPA_COMMON_H
|
||||
#define EPA_COMMON_H
|
||||
|
||||
#define EPA_POLYHEDRON_USE_PLANES
|
||||
|
||||
|
||||
//#define EPA_DEBUG_ASSERT(c,a)
|
||||
//#define EPA_DEBUG_ASSERT(c,a) assert(c && a)
|
||||
#define EPA_DEBUG_ASSERT(c,a) if (!c) printf(a)
|
||||
|
||||
//#define EPA_USE_HYBRID
|
||||
|
||||
#endif
|
||||
|
||||
254
Extras/obsolete/EPA/EpaFace.cpp
Normal file
254
Extras/obsolete/EPA/EpaFace.cpp
Normal file
@@ -0,0 +1,254 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
||||
|
||||
EPA Copyright (c) Ricardo Padrela 2006
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
#include "LinearMath/btScalar.h"
|
||||
#include "LinearMath/btVector3.h"
|
||||
#include "LinearMath/btPoint3.h"
|
||||
|
||||
#include "EpaCommon.h"
|
||||
|
||||
#include "EpaVertex.h"
|
||||
#include "EpaHalfEdge.h"
|
||||
#include "EpaFace.h"
|
||||
|
||||
#ifdef EPA_POLYHEDRON_USE_PLANES
|
||||
btScalar PLANE_THICKNESS = 1e-5f;
|
||||
#endif
|
||||
|
||||
EpaFace::EpaFace() : m_pHalfEdge( 0 ), m_deleted( false )
|
||||
{
|
||||
m_pVertices[ 0 ] = m_pVertices[ 1 ] = m_pVertices[ 2 ] = 0;
|
||||
}
|
||||
|
||||
EpaFace::~EpaFace()
|
||||
{
|
||||
}
|
||||
|
||||
bool EpaFace::Initialize()
|
||||
{
|
||||
assert( m_pHalfEdge && "Must setup half-edge first!" );
|
||||
|
||||
CollectVertices( m_pVertices );
|
||||
|
||||
const btVector3 e0 = m_pVertices[ 1 ]->m_point - m_pVertices[ 0 ]->m_point;
|
||||
const btVector3 e1 = m_pVertices[ 2 ]->m_point - m_pVertices[ 0 ]->m_point;
|
||||
|
||||
const btScalar e0Sqrd = e0.length2();
|
||||
const btScalar e1Sqrd = e1.length2();
|
||||
const btScalar e0e1 = e0.dot( e1 );
|
||||
|
||||
m_determinant = e0Sqrd * e1Sqrd - e0e1 * e0e1;
|
||||
|
||||
const btScalar e0v0 = e0.dot( m_pVertices[ 0 ]->m_point );
|
||||
const btScalar e1v0 = e1.dot( m_pVertices[ 0 ]->m_point );
|
||||
|
||||
m_lambdas[ 0 ] = e0e1 * e1v0 - e1Sqrd * e0v0;
|
||||
m_lambdas[ 1 ] = e0e1 * e0v0 - e0Sqrd * e1v0;
|
||||
|
||||
if ( IsAffinelyDependent() )
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
CalcClosestPoint();
|
||||
|
||||
#ifdef EPA_POLYHEDRON_USE_PLANES
|
||||
if ( !CalculatePlane() )
|
||||
{
|
||||
return false;
|
||||
}
|
||||
#endif
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
#ifdef EPA_POLYHEDRON_USE_PLANES
|
||||
bool EpaFace::CalculatePlane()
|
||||
{
|
||||
assert( ( m_pVertices[ 0 ] && m_pVertices[ 1 ] && m_pVertices[ 2 ] )
|
||||
&& "Must setup vertices pointers first!" );
|
||||
|
||||
// Traditional method
|
||||
|
||||
const btVector3 v1 = m_pVertices[ 1 ]->m_point - m_pVertices[ 0 ]->m_point;
|
||||
const btVector3 v2 = m_pVertices[ 2 ]->m_point - m_pVertices[ 0 ]->m_point;
|
||||
|
||||
m_planeNormal = v2.cross( v1 );
|
||||
|
||||
if ( m_planeNormal.length2() == 0 )
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
m_planeNormal.normalize();
|
||||
|
||||
m_planeDistance = m_pVertices[ 0 ]->m_point.dot( -m_planeNormal );
|
||||
|
||||
// Robust method
|
||||
|
||||
//btVector3 _v1 = m_pVertices[ 1 ]->m_point - m_pVertices[ 0 ]->m_point;
|
||||
//btVector3 _v2 = m_pVertices[ 2 ]->m_point - m_pVertices[ 0 ]->m_point;
|
||||
|
||||
//btVector3 n;
|
||||
|
||||
//n = _v2.cross( _v1 );
|
||||
|
||||
//_v1 = m_pVertices[ 0 ]->m_point - m_pVertices[ 1 ]->m_point;
|
||||
//_v2 = m_pVertices[ 2 ]->m_point - m_pVertices[ 1 ]->m_point;
|
||||
|
||||
//n += ( _v1.cross( _v2 ) );
|
||||
|
||||
//_v1 = m_pVertices[ 0 ]->m_point - m_pVertices[ 2 ]->m_point;
|
||||
//_v2 = m_pVertices[ 1 ]->m_point - m_pVertices[ 2 ]->m_point;
|
||||
|
||||
//n += ( _v2.cross( _v1 ) );
|
||||
|
||||
//n /= 3;
|
||||
//n.normalize();
|
||||
|
||||
//btVector3 c = ( m_pVertices[ 0 ]->m_point + m_pVertices[ 1 ]->m_point + m_pVertices[ 2 ]->m_point ) / 3;
|
||||
//btScalar d = c.dot( -n );
|
||||
|
||||
//m_robustPlaneNormal = n;
|
||||
//m_robustPlaneDistance = d;
|
||||
|
||||
// Compare results from both methods and check whether they disagree
|
||||
|
||||
//if ( d < 0 )
|
||||
//{
|
||||
// assert( ( m_planeDistance < 0 ) && "He he! Busted!" );
|
||||
//}
|
||||
//else
|
||||
//{
|
||||
// assert( ( m_planeDistance >= 0 ) && "He he! Busted!" );
|
||||
//}
|
||||
|
||||
return true;
|
||||
}
|
||||
#endif
|
||||
|
||||
void EpaFace::CalcClosestPoint()
|
||||
{
|
||||
const btVector3 e0 = m_pVertices[ 1 ]->m_point - m_pVertices[ 0 ]->m_point;
|
||||
const btVector3 e1 = m_pVertices[ 2 ]->m_point - m_pVertices[ 0 ]->m_point;
|
||||
|
||||
m_v = m_pVertices[ 0 ]->m_point +
|
||||
( e0 * m_lambdas[ 0 ] + e1 * m_lambdas[ 1 ] ) / m_determinant;
|
||||
|
||||
m_vSqrd = m_v.length2();
|
||||
}
|
||||
|
||||
void EpaFace::CalcClosestPointOnA( btVector3& closestPointOnA )
|
||||
{
|
||||
const btVector3 e0 = m_pVertices[ 1 ]->m_wSupportPointOnA - m_pVertices[ 0 ]->m_wSupportPointOnA;
|
||||
const btVector3 e1 = m_pVertices[ 2 ]->m_wSupportPointOnA - m_pVertices[ 0 ]->m_wSupportPointOnA;
|
||||
|
||||
closestPointOnA = m_pVertices[ 0 ]->m_wSupportPointOnA +
|
||||
( e0 * m_lambdas[ 0 ] + e1 * m_lambdas[ 1 ] ) /
|
||||
m_determinant;
|
||||
}
|
||||
|
||||
void EpaFace::CalcClosestPointOnB( btVector3& closestPointOnB )
|
||||
{
|
||||
const btVector3 e0 = m_pVertices[ 1 ]->m_wSupportPointOnB - m_pVertices[ 0 ]->m_wSupportPointOnB;
|
||||
const btVector3 e1 = m_pVertices[ 2 ]->m_wSupportPointOnB - m_pVertices[ 0 ]->m_wSupportPointOnB;
|
||||
|
||||
closestPointOnB = m_pVertices[ 0 ]->m_wSupportPointOnB +
|
||||
( e0 * m_lambdas[ 0 ] + e1 * m_lambdas[ 1 ] ) /
|
||||
m_determinant;
|
||||
}
|
||||
|
||||
bool EpaFace::IsAffinelyDependent() const
|
||||
{
|
||||
return ( m_determinant <= SIMD_EPSILON );
|
||||
}
|
||||
|
||||
bool EpaFace::IsClosestPointInternal() const
|
||||
{
|
||||
return ( ( m_lambdas[ 0 ] >= 0 ) && ( m_lambdas[ 1 ] >= 0 ) && ( ( m_lambdas[ 0 ] + m_lambdas[ 1 ] <= m_determinant ) ) );
|
||||
}
|
||||
|
||||
void EpaFace::CollectVertices( EpaVertex** ppVertices )
|
||||
{
|
||||
assert( m_pHalfEdge && "Invalid half-edge pointer!" );
|
||||
|
||||
int vertexIndex = 0;
|
||||
|
||||
EpaHalfEdge* pCurrentHalfEdge = m_pHalfEdge;
|
||||
|
||||
do
|
||||
{
|
||||
assert( ( ( vertexIndex >= 0 ) && ( vertexIndex < 3 ) ) &&
|
||||
"Face is not a triangle!" );
|
||||
|
||||
assert( pCurrentHalfEdge->m_pVertex && "Half-edge has an invalid vertex pointer!" );
|
||||
|
||||
ppVertices[ vertexIndex++ ] = pCurrentHalfEdge->m_pVertex;
|
||||
|
||||
pCurrentHalfEdge = pCurrentHalfEdge->m_pNextCCW;
|
||||
|
||||
}
|
||||
while( pCurrentHalfEdge != m_pHalfEdge );
|
||||
}
|
||||
|
||||
//void EpaFace::FixOrder()
|
||||
//{
|
||||
// EpaHalfEdge* pHalfEdges[ 3 ];
|
||||
//
|
||||
// int halfEdgeIndex = 0;
|
||||
//
|
||||
// EpaHalfEdge* pCurrentHalfEdge = m_pHalfEdge;
|
||||
//
|
||||
// do
|
||||
// {
|
||||
// assert( ( ( halfEdgeIndex >= 0 ) && ( halfEdgeIndex < 3 ) ) &&
|
||||
// "Face is not a triangle!" );
|
||||
//
|
||||
// pHalfEdges[ halfEdgeIndex++ ] = pCurrentHalfEdge;
|
||||
//
|
||||
// pCurrentHalfEdge = pCurrentHalfEdge->m_pNextCCW;
|
||||
// }
|
||||
// while( pCurrentHalfEdge != m_pHalfEdge );
|
||||
//
|
||||
// EpaVertex* pVertices[ 3 ] = { pHalfEdges[ 0 ]->m_pVertex,
|
||||
// pHalfEdges[ 1 ]->m_pVertex,
|
||||
// pHalfEdges[ 2 ]->m_pVertex };
|
||||
//
|
||||
// // Make them run in the opposite direction
|
||||
// pHalfEdges[ 0 ]->m_pNextCCW = pHalfEdges[ 2 ];
|
||||
// pHalfEdges[ 1 ]->m_pNextCCW = pHalfEdges[ 0 ];
|
||||
// pHalfEdges[ 2 ]->m_pNextCCW = pHalfEdges[ 1 ];
|
||||
//
|
||||
// // Make half-edges point to their correct origin vertices
|
||||
//
|
||||
// pHalfEdges[ 1 ]->m_pVertex = pVertices[ 2 ];
|
||||
// pHalfEdges[ 2 ]->m_pVertex = pVertices[ 0 ];
|
||||
// pHalfEdges[ 0 ]->m_pVertex = pVertices[ 1 ];
|
||||
//
|
||||
// // Make vertices point to the correct half-edges
|
||||
//
|
||||
// //pHalfEdges[ 0 ]->m_pVertex->m_pHalfEdge = pHalfEdges[ 0 ];
|
||||
// //pHalfEdges[ 1 ]->m_pVertex->m_pHalfEdge = pHalfEdges[ 1 ];
|
||||
// //pHalfEdges[ 2 ]->m_pVertex->m_pHalfEdge = pHalfEdges[ 2 ];
|
||||
//
|
||||
// // Flip normal and change the sign of plane distance
|
||||
//
|
||||
//#ifdef EPA_POLYHEDRON_USE_PLANES
|
||||
// m_planeNormal = -m_planeNormal;
|
||||
// m_planeDistance = -m_planeDistance;
|
||||
//#endif
|
||||
//}
|
||||
|
||||
83
Extras/obsolete/EPA/EpaFace.h
Normal file
83
Extras/obsolete/EPA/EpaFace.h
Normal file
@@ -0,0 +1,83 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
||||
|
||||
EPA Copyright (c) Ricardo Padrela 2006
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
#ifndef EPA_FACE_H
|
||||
#define EPA_FACE_H
|
||||
|
||||
class EpaVertex;
|
||||
class EpaHalfEdge;
|
||||
|
||||
#ifdef EPA_POLYHEDRON_USE_PLANES
|
||||
extern btScalar PLANE_THICKNESS;
|
||||
#endif
|
||||
|
||||
//! Note : This class is not supposed to be a base class
|
||||
class EpaFace
|
||||
{
|
||||
private :
|
||||
|
||||
//! Prevents copying objects from this class
|
||||
EpaFace( const EpaFace& epaFace );
|
||||
const EpaFace& operator = ( const EpaFace& epaFace );
|
||||
|
||||
public :
|
||||
|
||||
EpaFace();
|
||||
~EpaFace();
|
||||
|
||||
bool Initialize();
|
||||
|
||||
#ifdef EPA_POLYHEDRON_USE_PLANES
|
||||
bool CalculatePlane();
|
||||
#endif
|
||||
void CalcClosestPoint();
|
||||
void CalcClosestPointOnA( btVector3& closestPointOnA );
|
||||
void CalcClosestPointOnB( btVector3& closestPointOnB );
|
||||
|
||||
bool IsAffinelyDependent() const;
|
||||
bool IsClosestPointInternal() const;
|
||||
|
||||
void CollectVertices( EpaVertex** ppVertices );
|
||||
|
||||
//void FixOrder();
|
||||
|
||||
public :
|
||||
|
||||
EpaHalfEdge* m_pHalfEdge;
|
||||
|
||||
// We keep vertices here so we don't need to call CollectVertices
|
||||
// every time we need them
|
||||
EpaVertex* m_pVertices[ 3 ];
|
||||
|
||||
#ifdef EPA_POLYHEDRON_USE_PLANES
|
||||
btVector3 m_planeNormal;
|
||||
btScalar m_planeDistance;
|
||||
|
||||
//btVector3 m_robustPlaneNormal;
|
||||
//btScalar m_robustPlaneDistance;
|
||||
#endif
|
||||
|
||||
btVector3 m_v;
|
||||
btScalar m_vSqrd;
|
||||
|
||||
btScalar m_determinant;
|
||||
btScalar m_lambdas[ 2 ];
|
||||
|
||||
bool m_deleted;
|
||||
};
|
||||
|
||||
#endif
|
||||
|
||||
58
Extras/obsolete/EPA/EpaHalfEdge.h
Normal file
58
Extras/obsolete/EPA/EpaHalfEdge.h
Normal file
@@ -0,0 +1,58 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
||||
|
||||
EPA Copyright (c) Ricardo Padrela 2006
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
#ifndef EPA_HALF_EDGE_H
|
||||
#define EPA_HALF_EDGE_H
|
||||
|
||||
class EpaFace;
|
||||
class EpaVertex;
|
||||
|
||||
//! Note : This class is not supposed to be a base class
|
||||
class EpaHalfEdge
|
||||
{
|
||||
private :
|
||||
|
||||
//! Prevents copying objects from this class
|
||||
EpaHalfEdge( const EpaHalfEdge& epaHalfEdge );
|
||||
const EpaHalfEdge& operator = ( const EpaHalfEdge& epaHalfEdge );
|
||||
|
||||
public :
|
||||
|
||||
EpaHalfEdge() : m_pTwin( 0 ), m_pNextCCW( 0 ), m_pFace( 0 ), m_pVertex( 0 )
|
||||
{
|
||||
}
|
||||
|
||||
~EpaHalfEdge()
|
||||
{
|
||||
}
|
||||
|
||||
public :
|
||||
|
||||
//! Twin half-edge link
|
||||
EpaHalfEdge* m_pTwin;
|
||||
|
||||
//! Next half-edge in counter clock-wise ( CCW ) order
|
||||
EpaHalfEdge* m_pNextCCW;
|
||||
|
||||
//! Parent face link
|
||||
EpaFace* m_pFace;
|
||||
|
||||
//! Origin vertex link
|
||||
EpaVertex* m_pVertex;
|
||||
};
|
||||
|
||||
#endif
|
||||
|
||||
202
Extras/obsolete/EPA/EpaPenetrationDepthSolver.cpp
Normal file
202
Extras/obsolete/EPA/EpaPenetrationDepthSolver.cpp
Normal file
@@ -0,0 +1,202 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
||||
|
||||
EPA Copyright (c) Ricardo Padrela 2006
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
#include "LinearMath/btScalar.h"
|
||||
#include "LinearMath/btVector3.h"
|
||||
#include "LinearMath/btPoint3.h"
|
||||
#include "LinearMath/btTransform.h"
|
||||
#include "LinearMath/btMinMax.h"
|
||||
|
||||
#include <list>
|
||||
|
||||
#include "BulletCollision/CollisionShapes/btConvexShape.h"
|
||||
|
||||
#include "BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h"
|
||||
|
||||
#include "EpaCommon.h"
|
||||
|
||||
#include "EpaVertex.h"
|
||||
#include "EpaHalfEdge.h"
|
||||
#include "EpaFace.h"
|
||||
#include "EpaPolyhedron.h"
|
||||
#include "Epa.h"
|
||||
#include "BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h"
|
||||
#include "EpaPenetrationDepthSolver.h"
|
||||
|
||||
btScalar g_GJKMaxRelError = 1e-3f;
|
||||
btScalar g_GJKMaxRelErrorSqrd = g_GJKMaxRelError * g_GJKMaxRelError;
|
||||
|
||||
bool EpaPenetrationDepthSolver::calcPenDepth( btSimplexSolverInterface& simplexSolver,
|
||||
btConvexShape* pConvexA, btConvexShape* pConvexB,
|
||||
const btTransform& transformA, const btTransform& transformB,
|
||||
btVector3& v, btPoint3& wWitnessOnA, btPoint3& wWitnessOnB,
|
||||
class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc )
|
||||
{
|
||||
EPA_DEBUG_ASSERT( pConvexA ,"Convex shape A is invalid!" );
|
||||
EPA_DEBUG_ASSERT( pConvexB ,"Convex shape B is invalid!" );
|
||||
|
||||
btScalar penDepth;
|
||||
|
||||
#ifdef EPA_USE_HYBRID
|
||||
bool needsEPA = !HybridPenDepth( simplexSolver, pConvexA, pConvexB, transformA, transformB,
|
||||
wWitnessOnA, wWitnessOnB, penDepth, v );
|
||||
|
||||
if ( needsEPA )
|
||||
{
|
||||
#endif
|
||||
penDepth = EpaPenDepth( simplexSolver, pConvexA, pConvexB,
|
||||
transformA, transformB,
|
||||
wWitnessOnA, wWitnessOnB );
|
||||
EPA_DEBUG_ASSERT( ( penDepth > 0 ) ,"EPA or Hybrid Technique failed to calculate penetration depth!" );
|
||||
|
||||
#ifdef EPA_USE_HYBRID
|
||||
}
|
||||
#endif
|
||||
|
||||
return ( penDepth > 0 );
|
||||
}
|
||||
|
||||
#ifdef EPA_USE_HYBRID
|
||||
bool EpaPenetrationDepthSolver::HybridPenDepth( btSimplexSolverInterface& simplexSolver,
|
||||
btConvexShape* pConvexA, btConvexShape* pConvexB,
|
||||
const btTransform& transformA, const btTransform& transformB,
|
||||
btPoint3& wWitnessOnA, btPoint3& wWitnessOnB,
|
||||
btScalar& penDepth, btVector3& v )
|
||||
{
|
||||
btScalar squaredDistance = SIMD_INFINITY;
|
||||
btScalar delta = 0.f;
|
||||
|
||||
const btScalar margin = pConvexA->getMargin() + pConvexB->getMargin();
|
||||
const btScalar marginSqrd = margin * margin;
|
||||
|
||||
simplexSolver.reset();
|
||||
|
||||
int nbIterations = 0;
|
||||
|
||||
while ( true )
|
||||
{
|
||||
assert( ( v.length2() > 0 ) && "Warning: v is the zero vector!" );
|
||||
|
||||
btVector3 seperatingAxisInA = -v * transformA.getBasis();
|
||||
btVector3 seperatingAxisInB = v * transformB.getBasis();
|
||||
|
||||
btVector3 pInA = pConvexA->localGetSupportingVertexWithoutMargin( seperatingAxisInA );
|
||||
btVector3 qInB = pConvexB->localGetSupportingVertexWithoutMargin( seperatingAxisInB );
|
||||
|
||||
btPoint3 pWorld = transformA( pInA );
|
||||
btPoint3 qWorld = transformB( qInB );
|
||||
|
||||
btVector3 w = pWorld - qWorld;
|
||||
delta = v.dot( w );
|
||||
|
||||
// potential exit, they don't overlap
|
||||
if ( ( delta > 0 ) && ( ( delta * delta / squaredDistance ) > marginSqrd ) )
|
||||
{
|
||||
// Convex shapes do not overlap
|
||||
// Returning true means that Hybrid's result is ok and there's no need to run EPA
|
||||
penDepth = 0;
|
||||
return true;
|
||||
}
|
||||
|
||||
//exit 0: the new point is already in the simplex, or we didn't come any closer
|
||||
if ( ( squaredDistance - delta <= squaredDistance * g_GJKMaxRelErrorSqrd ) || simplexSolver.inSimplex( w ) )
|
||||
{
|
||||
simplexSolver.compute_points( wWitnessOnA, wWitnessOnB );
|
||||
|
||||
assert( ( squaredDistance > 0 ) && "squaredDistance is zero!" );
|
||||
btScalar vLength = sqrt( squaredDistance );
|
||||
|
||||
wWitnessOnA -= v * ( pConvexA->getMargin() / vLength );
|
||||
wWitnessOnB += v * ( pConvexB->getMargin() / vLength );
|
||||
|
||||
penDepth = pConvexA->getMargin() + pConvexB->getMargin() - vLength;
|
||||
|
||||
// Returning true means that Hybrid's result is ok and there's no need to run EPA
|
||||
return true;
|
||||
}
|
||||
|
||||
//add current vertex to simplex
|
||||
simplexSolver.addVertex( w, pWorld, qWorld );
|
||||
|
||||
//calculate the closest point to the origin (update vector v)
|
||||
if ( !simplexSolver.closest( v ) )
|
||||
{
|
||||
simplexSolver.compute_points( wWitnessOnA, wWitnessOnB );
|
||||
|
||||
assert( ( squaredDistance > 0 ) && "squaredDistance is zero!" );
|
||||
btScalar vLength = sqrt( squaredDistance );
|
||||
|
||||
wWitnessOnA -= v * ( pConvexA->getMargin() / vLength );
|
||||
wWitnessOnB += v * ( pConvexB->getMargin() / vLength );
|
||||
|
||||
penDepth = pConvexA->getMargin() + pConvexB->getMargin() - vLength;
|
||||
|
||||
// Returning true means that Hybrid's result is ok and there's no need to run EPA
|
||||
return true;
|
||||
}
|
||||
|
||||
btScalar previousSquaredDistance = squaredDistance;
|
||||
squaredDistance = v.length2();
|
||||
|
||||
//are we getting any closer ?
|
||||
if ( previousSquaredDistance - squaredDistance <= SIMD_EPSILON * previousSquaredDistance )
|
||||
{
|
||||
simplexSolver.backup_closest( v );
|
||||
squaredDistance = v.length2();
|
||||
|
||||
simplexSolver.compute_points( wWitnessOnA, wWitnessOnB );
|
||||
|
||||
assert( ( squaredDistance > 0 ) && "squaredDistance is zero!" );
|
||||
btScalar vLength = sqrt( squaredDistance );
|
||||
|
||||
wWitnessOnA -= v * ( pConvexA->getMargin() / vLength );
|
||||
wWitnessOnB += v * ( pConvexB->getMargin() / vLength );
|
||||
|
||||
penDepth = pConvexA->getMargin() + pConvexB->getMargin() - vLength;
|
||||
|
||||
// Returning true means that Hybrid's result is ok and there's no need to run EPA
|
||||
return true;
|
||||
}
|
||||
|
||||
if ( simplexSolver.fullSimplex() || ( squaredDistance <= SIMD_EPSILON * simplexSolver.maxVertex() ) )
|
||||
{
|
||||
// Convex Shapes intersect - we need to run EPA
|
||||
// Returning false means that Hybrid couldn't do anything for us
|
||||
// and that we need to run EPA to calculate the pen depth
|
||||
return false;
|
||||
}
|
||||
|
||||
++nbIterations;
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
||||
btScalar EpaPenetrationDepthSolver::EpaPenDepth( btSimplexSolverInterface& simplexSolver,
|
||||
btConvexShape* pConvexA, btConvexShape* pConvexB,
|
||||
const btTransform& transformA, const btTransform& transformB,
|
||||
btPoint3& wWitnessOnA, btPoint3& wWitnessOnB )
|
||||
{
|
||||
Epa epa( pConvexA, pConvexB, transformA, transformB );
|
||||
|
||||
if ( !epa.Initialize( simplexSolver ) )
|
||||
{
|
||||
EPA_DEBUG_ASSERT( false ,"Epa failed to initialize!" );
|
||||
return 0;
|
||||
}
|
||||
|
||||
return epa.calcPenDepth( wWitnessOnA, wWitnessOnB );
|
||||
}
|
||||
|
||||
56
Extras/obsolete/EPA/EpaPenetrationDepthSolver.h
Normal file
56
Extras/obsolete/EPA/EpaPenetrationDepthSolver.h
Normal file
@@ -0,0 +1,56 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
||||
|
||||
EPA Copyright (c) Ricardo Padrela 2006
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
#ifndef EPA2_PENETRATION_DEPTH_H
|
||||
#define EPA2_PENETRATION_DEPTH_H
|
||||
|
||||
/**
|
||||
* EpaPenetrationDepthSolver uses the Expanding Polytope Algorithm to
|
||||
* calculate the penetration depth between two convex shapes.
|
||||
*/
|
||||
|
||||
extern btScalar g_GJKMaxRelError;
|
||||
extern btScalar g_GJKMaxRelErrorSqrd;
|
||||
|
||||
//! Note : This class is not supposed to be a base class
|
||||
class EpaPenetrationDepthSolver : public btConvexPenetrationDepthSolver
|
||||
{
|
||||
public :
|
||||
|
||||
bool calcPenDepth( btSimplexSolverInterface& simplexSolver,
|
||||
btConvexShape* pConvexA, btConvexShape* pConvexB,
|
||||
const btTransform& transformA, const btTransform& transformB,
|
||||
btVector3& v, btPoint3& wWitnessOnA, btPoint3& wWitnessOnB,
|
||||
class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc );
|
||||
|
||||
private :
|
||||
|
||||
#ifdef EPA_USE_HYBRID
|
||||
bool HybridPenDepth( btSimplexSolverInterface& simplexSolver,
|
||||
btConvexShape* pConvexA, btConvexShape* pConvexB,
|
||||
const btTransform& transformA, const btTransform& transformB,
|
||||
btPoint3& wWitnessOnA, btPoint3& wWitnessOnB,
|
||||
btScalar& penDepth, btVector3& v );
|
||||
#endif
|
||||
|
||||
btScalar EpaPenDepth( btSimplexSolverInterface& simplexSolver,
|
||||
btConvexShape* pConvexA, btConvexShape* pConvexB,
|
||||
const btTransform& transformA, const btTransform& transformB,
|
||||
btPoint3& wWitnessOnA, btPoint3& wWitnessOnB );
|
||||
};
|
||||
|
||||
#endif // EPA_PENETRATION_DEPTH_H
|
||||
|
||||
1026
Extras/obsolete/EPA/EpaPolyhedron.cpp
Normal file
1026
Extras/obsolete/EPA/EpaPolyhedron.cpp
Normal file
File diff suppressed because it is too large
Load Diff
89
Extras/obsolete/EPA/EpaPolyhedron.h
Normal file
89
Extras/obsolete/EPA/EpaPolyhedron.h
Normal file
@@ -0,0 +1,89 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
||||
|
||||
EPA Copyright (c) Ricardo Padrela 2006
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
#ifndef EPA_POLYHEDRON_H
|
||||
#define EPA_POLYHEDRON_H
|
||||
|
||||
class EpaFace;
|
||||
class EpaVertex;
|
||||
|
||||
//! Note : This class is not supposed to be a base class
|
||||
class EpaPolyhedron
|
||||
{
|
||||
private :
|
||||
|
||||
//! Prevents copying objects from this class
|
||||
EpaPolyhedron( const EpaPolyhedron& epaPolyhedron );
|
||||
const EpaPolyhedron& operator = ( const EpaPolyhedron& epaPolyhedron );
|
||||
|
||||
public :
|
||||
|
||||
EpaPolyhedron();
|
||||
~EpaPolyhedron();
|
||||
|
||||
bool Create( btPoint3* pInitialPoints,
|
||||
btPoint3* pSupportPointsOnA, btPoint3* pSupportPointsOnB,
|
||||
const int nbInitialPoints );
|
||||
void Destroy();
|
||||
|
||||
EpaFace* CreateFace();
|
||||
EpaHalfEdge* CreateHalfEdge();
|
||||
EpaVertex* CreateVertex( const btPoint3& wSupportPoint,
|
||||
const btPoint3& wSupportPointOnA,
|
||||
const btPoint3& wSupportPointOnB );
|
||||
|
||||
void DeleteFace( EpaFace* pFace );
|
||||
|
||||
void DestroyAllFaces();
|
||||
void DestroyAllHalfEdges();
|
||||
void DestroyAllVertices();
|
||||
|
||||
bool Expand( const btPoint3& wSupportPoint,
|
||||
const btPoint3& wSupportPointOnA,
|
||||
const btPoint3& wSupportPointOnB,
|
||||
EpaFace* pFace, std::list< EpaFace* >& newFaces );
|
||||
|
||||
std::list< EpaFace* >& GetFaces();
|
||||
int GetNbFaces() const;
|
||||
|
||||
private :
|
||||
|
||||
void DeleteVisibleFaces( const btPoint3& point, EpaFace* pFace,
|
||||
std::list< EpaHalfEdge* >& coneBaseTwinHalfEdges );
|
||||
|
||||
void CreateCone( EpaVertex* pAppexVertex, std::list< EpaHalfEdge* >& baseTwinHalfEdges,
|
||||
std::list< EpaFace* >& newFaces );
|
||||
EpaFace* CreateConeFace( EpaVertex* pAppexVertex, EpaHalfEdge* pBaseTwinHalfEdge,
|
||||
std::list< EpaHalfEdge* >& halfEdgesToLink );
|
||||
|
||||
#ifdef _DEBUG
|
||||
public :
|
||||
//! Please don't remove this method, it will help debugging if some problems arise in the future
|
||||
bool _dbgSaveToFile( const char* pFileName );
|
||||
#endif
|
||||
|
||||
private :
|
||||
|
||||
//! This is the number of valid faces, m_faces list also contain deleted faces
|
||||
int m_nbFaces;
|
||||
|
||||
std::list< EpaFace* > m_faces;
|
||||
std::list< EpaHalfEdge* > m_halfEdges;
|
||||
std::list< EpaVertex* > m_vertices;
|
||||
};
|
||||
|
||||
#endif
|
||||
|
||||
61
Extras/obsolete/EPA/EpaVertex.h
Normal file
61
Extras/obsolete/EPA/EpaVertex.h
Normal file
@@ -0,0 +1,61 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
||||
|
||||
EPA Copyright (c) Ricardo Padrela 2006
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
#ifndef EPA_VERTEX_H
|
||||
#define EPA_VERTEX_H
|
||||
|
||||
class EpaHalfEdge;
|
||||
|
||||
//! Note : This class is not supposed to be a base class
|
||||
class EpaVertex
|
||||
{
|
||||
private :
|
||||
|
||||
//! Prevents copying objects from this class
|
||||
EpaVertex( const EpaVertex& epaVertex );
|
||||
const EpaVertex& operator = ( const EpaVertex& epaVertex );
|
||||
|
||||
public :
|
||||
|
||||
EpaVertex( const btPoint3& point ) : /*m_pHalfEdge( 0 ),*/ m_point( point )
|
||||
{
|
||||
}
|
||||
|
||||
EpaVertex( const btPoint3& point,
|
||||
const btPoint3& wSupportPointOnA,
|
||||
const btPoint3& wSupportPointOnB ) : /*m_pHalfEdge( 0 ),*/ m_point( point ),
|
||||
m_wSupportPointOnA( wSupportPointOnA ),
|
||||
m_wSupportPointOnB( wSupportPointOnB )
|
||||
{
|
||||
}
|
||||
|
||||
~EpaVertex()
|
||||
{
|
||||
}
|
||||
|
||||
public :
|
||||
|
||||
//! This is not necessary
|
||||
//EpaHalfEdge* m_pHalfEdge;
|
||||
|
||||
btPoint3 m_point;
|
||||
|
||||
btPoint3 m_wSupportPointOnA;
|
||||
btPoint3 m_wSupportPointOnB;
|
||||
};
|
||||
|
||||
#endif
|
||||
|
||||
10
Extras/obsolete/EPA/Jamfile
Normal file
10
Extras/obsolete/EPA/Jamfile
Normal file
@@ -0,0 +1,10 @@
|
||||
SubDir TOP Extras EPA ;
|
||||
|
||||
IncludeDir Extras/EPA ;
|
||||
|
||||
Library EPA : [ Wildcard *.h *.cpp ] ;
|
||||
CFlags EPA : [ FIncludes $(TOP)/Extras/EPA ] ;
|
||||
LibDepends EPA : ;
|
||||
|
||||
|
||||
InstallHeader [ Wildcard *.h ] : EPA ;
|
||||
227
Extras/obsolete/ExtraSolid35/CombinedSimplexSolver.cpp
Normal file
227
Extras/obsolete/ExtraSolid35/CombinedSimplexSolver.cpp
Normal file
@@ -0,0 +1,227 @@
|
||||
/*
|
||||
* Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
|
||||
*
|
||||
* Permission to use, copy, modify, distribute and sell this software
|
||||
* and its documentation for any purpose is hereby granted without fee,
|
||||
* provided that the above copyright notice appear in all copies.
|
||||
* Erwin Coumans makes no representations about the suitability
|
||||
* of this software for any purpose.
|
||||
* It is provided "as is" without express or implied warranty.
|
||||
*/
|
||||
|
||||
#include "CombinedSimplexSolver.h"
|
||||
#include <stdio.h>
|
||||
//switch off asserts
|
||||
//#define MY_ASSERT assert
|
||||
#define MY_ASSERT
|
||||
|
||||
bool useVoronoi = true;
|
||||
|
||||
CombinedSimplexSolver::CombinedSimplexSolver()
|
||||
:m_useVoronoiSolver(useVoronoi)
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
void CombinedSimplexSolver::reset()
|
||||
{
|
||||
m_voronoiSolver.reset();
|
||||
m_johnsonSolver.reset();
|
||||
}
|
||||
|
||||
|
||||
void CombinedSimplexSolver::addVertex(const btVector3& w, const btPoint3& p, const btPoint3& q)
|
||||
{
|
||||
printf("addVertex (%f %f %f)\n",w[0],w[1],w[2]);
|
||||
m_voronoiSolver.addVertex(w,p,q);
|
||||
m_johnsonSolver.addVertex(w,p,q);
|
||||
int i;
|
||||
i=0;
|
||||
|
||||
btPoint3 vp1,vp2;
|
||||
btPoint3 jp1,jp2;
|
||||
/*
|
||||
bool isClosest0 = m_voronoiSolver.closest(vp1);
|
||||
bool isClosest1 = m_johnsonSolver.closest(vp1);
|
||||
|
||||
m_voronoiSolver.compute_points(vp1, vp2);
|
||||
m_johnsonSolver.compute_points(jp1,jp2);
|
||||
i=0;
|
||||
*/
|
||||
}
|
||||
|
||||
|
||||
|
||||
bool CombinedSimplexSolver::closest(btVector3& v)
|
||||
{
|
||||
bool result0 = 0;
|
||||
bool result1 = 0;
|
||||
|
||||
btVector3 v0,v1;
|
||||
|
||||
result0 = m_voronoiSolver.closest(v0);
|
||||
result1 = m_johnsonSolver.closest(v1);
|
||||
|
||||
if (result0 != result1)
|
||||
{
|
||||
result0 = m_voronoiSolver.closest(v0);
|
||||
result1 = m_johnsonSolver.closest(v1);
|
||||
int i;
|
||||
i=0;
|
||||
}
|
||||
if (m_useVoronoiSolver)
|
||||
{
|
||||
v = v0;
|
||||
return result0;
|
||||
}
|
||||
|
||||
v = v1;
|
||||
return result1;
|
||||
}
|
||||
|
||||
btScalar CombinedSimplexSolver::maxVertex()
|
||||
{
|
||||
btScalar maxv0 = m_voronoiSolver.maxVertex();
|
||||
btScalar maxv1 = m_johnsonSolver.maxVertex();
|
||||
MY_ASSERT(maxv0 = maxv1);
|
||||
if (m_useVoronoiSolver)
|
||||
return maxv0;
|
||||
|
||||
return maxv1;
|
||||
}
|
||||
|
||||
bool CombinedSimplexSolver::fullSimplex() const
|
||||
{
|
||||
bool fullSimplex0 = m_voronoiSolver.fullSimplex();
|
||||
bool fullSimplex1 = m_johnsonSolver.fullSimplex();
|
||||
MY_ASSERT(fullSimplex0 == fullSimplex1);
|
||||
|
||||
if (m_useVoronoiSolver)
|
||||
return fullSimplex0;
|
||||
|
||||
return fullSimplex1;
|
||||
}
|
||||
|
||||
int CombinedSimplexSolver::getSimplex(btPoint3 *pBuf, btPoint3 *qBuf, btVector3 *yBuf) const
|
||||
{
|
||||
|
||||
|
||||
int simplex0 = m_voronoiSolver.getSimplex(pBuf, qBuf, yBuf);
|
||||
int simplex1 = m_johnsonSolver.getSimplex(pBuf, qBuf, yBuf);
|
||||
// MY_ASSERT(simplex0 == simplex1);
|
||||
if (m_useVoronoiSolver)
|
||||
{
|
||||
return m_voronoiSolver.getSimplex(pBuf, qBuf, yBuf);
|
||||
}
|
||||
|
||||
return simplex1;
|
||||
}
|
||||
|
||||
void CombinedSimplexSolver::debugPrint()
|
||||
{
|
||||
btPoint3 pBuf0[4];
|
||||
btPoint3 qBuf0[4];
|
||||
btPoint3 yBuf0[4];
|
||||
btPoint3 pBuf1[4];
|
||||
btPoint3 qBuf1[4];
|
||||
btPoint3 yBuf1[4];
|
||||
int verts0,verts1;
|
||||
|
||||
verts0 = m_voronoiSolver.getSimplex(&pBuf0[0], &qBuf0[0], &yBuf0[0]);
|
||||
verts1 = m_johnsonSolver.getSimplex(&pBuf1[0], &qBuf1[0], &yBuf1[0]);
|
||||
printf("numverts0 = %d, numverts1 = %d\n",verts0,verts1);
|
||||
for (int i=0;i<verts0;i++)
|
||||
{
|
||||
printf("vert0 pBuf %d = %f , %f , %f\n",i,pBuf0[i].x(),pBuf0[i].y(),pBuf0[i].z());
|
||||
printf("vert0 qBuf %d = %f , %f , %f\n",i,qBuf0[i].x(),qBuf0[i].y(),qBuf0[i].z());
|
||||
printf("vert0 yBuf %d = %f , %f , %f\n",i,yBuf0[i].x(),yBuf0[i].y(),yBuf0[i].z());
|
||||
}
|
||||
|
||||
for (int i=0;i<verts1;i++)
|
||||
{
|
||||
printf("vert1 pBuf %d = %f , %f , %f\n",i,pBuf1[i].x(),pBuf1[i].y(),pBuf1[i].z());
|
||||
printf("vert1 qBuf %d = %f , %f , %f\n",i,qBuf1[i].x(),qBuf1[i].y(),qBuf1[i].z());
|
||||
printf("vert1 yBuf %d = %f , %f , %f\n",i,yBuf1[i].x(),yBuf1[i].y(),yBuf1[i].z());
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
bool CombinedSimplexSolver::inSimplex(const btVector3& w)
|
||||
{
|
||||
bool insimplex0 = m_voronoiSolver.inSimplex(w);
|
||||
bool insimplex1 = m_johnsonSolver.inSimplex(w);
|
||||
|
||||
if (insimplex0 != insimplex1)
|
||||
{
|
||||
debugPrint();
|
||||
|
||||
|
||||
}
|
||||
if (m_useVoronoiSolver)
|
||||
return insimplex0;
|
||||
|
||||
return insimplex1;
|
||||
|
||||
}
|
||||
void CombinedSimplexSolver::backup_closest(btVector3& v)
|
||||
{
|
||||
btVector3 v0,v1;
|
||||
|
||||
m_voronoiSolver.backup_closest(v0);
|
||||
m_johnsonSolver.backup_closest(v1);
|
||||
if (m_useVoronoiSolver)
|
||||
{
|
||||
v = v0;
|
||||
} else
|
||||
{
|
||||
v = v1;
|
||||
}
|
||||
}
|
||||
|
||||
bool CombinedSimplexSolver::emptySimplex() const
|
||||
{
|
||||
bool empty0 = m_voronoiSolver.emptySimplex();
|
||||
bool empty1 = m_johnsonSolver.emptySimplex();
|
||||
MY_ASSERT(empty0 == empty1);
|
||||
if (m_useVoronoiSolver)
|
||||
return empty0;
|
||||
|
||||
return empty1;
|
||||
}
|
||||
|
||||
void CombinedSimplexSolver::compute_points(btPoint3& p1, btPoint3& p2)
|
||||
{
|
||||
btPoint3 tmpP1,tmpP2;
|
||||
btPoint3 tmpJP1,tmpJP2;
|
||||
|
||||
m_voronoiSolver.compute_points(tmpP1,tmpP2);
|
||||
m_johnsonSolver.compute_points(tmpJP1,tmpJP2);
|
||||
|
||||
if (m_useVoronoiSolver)
|
||||
{
|
||||
p1 = tmpP1;
|
||||
p2 = tmpP2;
|
||||
}
|
||||
else
|
||||
{
|
||||
p1 = tmpJP1;
|
||||
p2 = tmpJP2;
|
||||
}
|
||||
}
|
||||
|
||||
int CombinedSimplexSolver::numVertices() const
|
||||
{
|
||||
int numverts0 = m_voronoiSolver.numVertices();
|
||||
int numverts1 = m_johnsonSolver.numVertices();
|
||||
MY_ASSERT(numverts0==numverts1);
|
||||
if (numverts0 != numverts1)
|
||||
{
|
||||
printf("--------- (numverts0 != numverts1) -----------------------\n");
|
||||
}
|
||||
printf("numverts0 = %d, numverts1 %d \n",numverts0,numverts1);
|
||||
|
||||
if (m_useVoronoiSolver)
|
||||
return numverts0;
|
||||
|
||||
return numverts1;
|
||||
}
|
||||
62
Extras/obsolete/ExtraSolid35/CombinedSimplexSolver.h
Normal file
62
Extras/obsolete/ExtraSolid35/CombinedSimplexSolver.h
Normal file
@@ -0,0 +1,62 @@
|
||||
/*
|
||||
* Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
|
||||
*
|
||||
* Permission to use, copy, modify, distribute and sell this software
|
||||
* and its documentation for any purpose is hereby granted without fee,
|
||||
* provided that the above copyright notice appear in all copies.
|
||||
* Erwin Coumans makes no representations about the suitability
|
||||
* of this software for any purpose.
|
||||
* It is provided "as is" without express or implied warranty.
|
||||
*/
|
||||
|
||||
#ifndef COMBINED_SIMPLEX_SOLVER
|
||||
#define COMBINED_SIMPLEX_SOLVER
|
||||
|
||||
#include "BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h"
|
||||
#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
|
||||
#include "Solid3JohnsonSimplexSolver.h"
|
||||
|
||||
/// CombinedSimplexSolver runs both Solid and Voronoi Simplex Solver for comparison
|
||||
class CombinedSimplexSolver: public btSimplexSolverInterface
|
||||
{
|
||||
btVoronoiSimplexSolver m_voronoiSolver;
|
||||
// btVoronoiSimplexSolver m_johnsonSolver;
|
||||
|
||||
Solid3JohnsonSimplexSolver m_johnsonSolver;
|
||||
|
||||
bool m_useVoronoiSolver;
|
||||
|
||||
void debugPrint();
|
||||
|
||||
public:
|
||||
CombinedSimplexSolver();
|
||||
|
||||
virtual ~CombinedSimplexSolver() {};
|
||||
|
||||
virtual void reset();
|
||||
|
||||
virtual void addVertex(const btVector3& w, const btPoint3& p, const btPoint3& q);
|
||||
|
||||
virtual bool closest(btVector3& v);
|
||||
|
||||
virtual btScalar maxVertex();
|
||||
|
||||
virtual bool fullSimplex() const;
|
||||
|
||||
virtual int getSimplex(btPoint3 *pBuf, btPoint3 *qBuf, btVector3 *yBuf) const;
|
||||
|
||||
virtual bool inSimplex(const btVector3& w);
|
||||
|
||||
virtual void backup_closest(btVector3& v) ;
|
||||
|
||||
virtual bool emptySimplex() const;
|
||||
|
||||
virtual void compute_points(btPoint3& p1, btPoint3& p2);
|
||||
|
||||
virtual int numVertices() const;
|
||||
|
||||
|
||||
};
|
||||
|
||||
|
||||
#endif //COMBINED_SIMPLEX_SOLVER
|
||||
137
Extras/obsolete/ExtraSolid35/ExtraSolid35_vc7.vcproj
Normal file
137
Extras/obsolete/ExtraSolid35/ExtraSolid35_vc7.vcproj
Normal file
@@ -0,0 +1,137 @@
|
||||
<?xml version="1.0" encoding="Windows-1252"?>
|
||||
<VisualStudioProject
|
||||
ProjectType="Visual C++"
|
||||
Version="7.10"
|
||||
Name="ExtraSolid35"
|
||||
ProjectGUID="{23F98301-2F09-4064-86CC-AB00D097BFB6}"
|
||||
Keyword="Win32Proj">
|
||||
<Platforms>
|
||||
<Platform
|
||||
Name="Win32"/>
|
||||
</Platforms>
|
||||
<Configurations>
|
||||
<Configuration
|
||||
Name="Debug|Win32"
|
||||
OutputDirectory="Debug"
|
||||
IntermediateDirectory="Debug"
|
||||
ConfigurationType="4"
|
||||
CharacterSet="2">
|
||||
<Tool
|
||||
Name="VCCLCompilerTool"
|
||||
Optimization="0"
|
||||
AdditionalIncludeDirectories="..\..\Bullet;..\..\LinearMath"
|
||||
PreprocessorDefinitions="WIN32;_DEBUG;_LIB"
|
||||
MinimalRebuild="TRUE"
|
||||
BasicRuntimeChecks="3"
|
||||
RuntimeLibrary="3"
|
||||
UsePrecompiledHeader="0"
|
||||
WarningLevel="3"
|
||||
Detect64BitPortabilityProblems="TRUE"
|
||||
DebugInformationFormat="4"/>
|
||||
<Tool
|
||||
Name="VCCustomBuildTool"/>
|
||||
<Tool
|
||||
Name="VCLibrarianTool"
|
||||
OutputFile="$(OutDir)/ExtraSolid35.lib"/>
|
||||
<Tool
|
||||
Name="VCMIDLTool"/>
|
||||
<Tool
|
||||
Name="VCPostBuildEventTool"/>
|
||||
<Tool
|
||||
Name="VCPreBuildEventTool"/>
|
||||
<Tool
|
||||
Name="VCPreLinkEventTool"/>
|
||||
<Tool
|
||||
Name="VCResourceCompilerTool"/>
|
||||
<Tool
|
||||
Name="VCWebServiceProxyGeneratorTool"/>
|
||||
<Tool
|
||||
Name="VCXMLDataGeneratorTool"/>
|
||||
<Tool
|
||||
Name="VCManagedWrapperGeneratorTool"/>
|
||||
<Tool
|
||||
Name="VCAuxiliaryManagedWrapperGeneratorTool"/>
|
||||
</Configuration>
|
||||
<Configuration
|
||||
Name="Release|Win32"
|
||||
OutputDirectory="Release"
|
||||
IntermediateDirectory="Release"
|
||||
ConfigurationType="4"
|
||||
CharacterSet="2">
|
||||
<Tool
|
||||
Name="VCCLCompilerTool"
|
||||
AdditionalIncludeDirectories="..\..\Bullet;..\..\LinearMath"
|
||||
PreprocessorDefinitions="WIN32;NDEBUG;_LIB"
|
||||
RuntimeLibrary="2"
|
||||
UsePrecompiledHeader="0"
|
||||
WarningLevel="3"
|
||||
Detect64BitPortabilityProblems="TRUE"
|
||||
DebugInformationFormat="3"/>
|
||||
<Tool
|
||||
Name="VCCustomBuildTool"/>
|
||||
<Tool
|
||||
Name="VCLibrarianTool"
|
||||
OutputFile="$(OutDir)/ExtraSolid35.lib"/>
|
||||
<Tool
|
||||
Name="VCMIDLTool"/>
|
||||
<Tool
|
||||
Name="VCPostBuildEventTool"/>
|
||||
<Tool
|
||||
Name="VCPreBuildEventTool"/>
|
||||
<Tool
|
||||
Name="VCPreLinkEventTool"/>
|
||||
<Tool
|
||||
Name="VCResourceCompilerTool"/>
|
||||
<Tool
|
||||
Name="VCWebServiceProxyGeneratorTool"/>
|
||||
<Tool
|
||||
Name="VCXMLDataGeneratorTool"/>
|
||||
<Tool
|
||||
Name="VCManagedWrapperGeneratorTool"/>
|
||||
<Tool
|
||||
Name="VCAuxiliaryManagedWrapperGeneratorTool"/>
|
||||
</Configuration>
|
||||
</Configurations>
|
||||
<References>
|
||||
</References>
|
||||
<Files>
|
||||
<Filter
|
||||
Name="Source Files"
|
||||
Filter="cpp;c;cxx;def;odl;idl;hpj;bat;asm;asmx"
|
||||
UniqueIdentifier="{4FC737F1-C7A5-4376-A066-2A32D752A2FF}">
|
||||
<File
|
||||
RelativePath=".\CombinedSimplexSolver.cpp">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\Solid3EpaPenetrationDepth.cpp">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\Solid3JohnsonSimplexSolver.cpp">
|
||||
</File>
|
||||
</Filter>
|
||||
<Filter
|
||||
Name="Header Files"
|
||||
Filter="h;hpp;hxx;hm;inl;inc;xsd"
|
||||
UniqueIdentifier="{93995380-89BD-4b04-88EB-625FBE52EBFB}">
|
||||
<File
|
||||
RelativePath=".\CombinedSimplexSolver.h">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\Solid3EpaPenetrationDepth.h">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\Solid3JohnsonSimplexSolver.h">
|
||||
</File>
|
||||
</Filter>
|
||||
<Filter
|
||||
Name="Resource Files"
|
||||
Filter="rc;ico;cur;bmp;dlg;rc2;rct;bin;rgs;gif;jpg;jpeg;jpe;resx"
|
||||
UniqueIdentifier="{67DA6AB6-F800-4c08-8B7A-83BB121AAD01}">
|
||||
</Filter>
|
||||
<File
|
||||
RelativePath=".\ReadMe.txt">
|
||||
</File>
|
||||
</Files>
|
||||
<Globals>
|
||||
</Globals>
|
||||
</VisualStudioProject>
|
||||
195
Extras/obsolete/ExtraSolid35/ExtraSolid35_vc8.vcproj
Normal file
195
Extras/obsolete/ExtraSolid35/ExtraSolid35_vc8.vcproj
Normal file
@@ -0,0 +1,195 @@
|
||||
<?xml version="1.0" encoding="Windows-1252"?>
|
||||
<VisualStudioProject
|
||||
ProjectType="Visual C++"
|
||||
Version="8.00"
|
||||
Name="ExtraSolid35"
|
||||
ProjectGUID="{23F98301-2F09-4064-86CC-AB00D097BFB6}"
|
||||
Keyword="Win32Proj"
|
||||
>
|
||||
<Platforms>
|
||||
<Platform
|
||||
Name="Win32"
|
||||
/>
|
||||
</Platforms>
|
||||
<ToolFiles>
|
||||
</ToolFiles>
|
||||
<Configurations>
|
||||
<Configuration
|
||||
Name="Debug|Win32"
|
||||
OutputDirectory="Debug"
|
||||
IntermediateDirectory="Debug"
|
||||
ConfigurationType="4"
|
||||
CharacterSet="2"
|
||||
>
|
||||
<Tool
|
||||
Name="VCPreBuildEventTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCCustomBuildTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCXMLDataGeneratorTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCWebServiceProxyGeneratorTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCMIDLTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCCLCompilerTool"
|
||||
Optimization="0"
|
||||
AdditionalIncludeDirectories="..\..\Bullet;..\..\LinearMath"
|
||||
PreprocessorDefinitions="WIN32;_DEBUG;_LIB"
|
||||
MinimalRebuild="true"
|
||||
BasicRuntimeChecks="3"
|
||||
RuntimeLibrary="1"
|
||||
UsePrecompiledHeader="0"
|
||||
WarningLevel="3"
|
||||
Detect64BitPortabilityProblems="true"
|
||||
DebugInformationFormat="4"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCManagedResourceCompilerTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCResourceCompilerTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCPreLinkEventTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCLibrarianTool"
|
||||
OutputFile="$(OutDir)/ExtraSolid35.lib"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCALinkTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCXDCMakeTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCBscMakeTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCFxCopTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCPostBuildEventTool"
|
||||
/>
|
||||
</Configuration>
|
||||
<Configuration
|
||||
Name="Release|Win32"
|
||||
OutputDirectory="Release"
|
||||
IntermediateDirectory="Release"
|
||||
ConfigurationType="4"
|
||||
CharacterSet="2"
|
||||
>
|
||||
<Tool
|
||||
Name="VCPreBuildEventTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCCustomBuildTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCXMLDataGeneratorTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCWebServiceProxyGeneratorTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCMIDLTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCCLCompilerTool"
|
||||
AdditionalIncludeDirectories="..\..\Bullet;..\..\LinearMath"
|
||||
PreprocessorDefinitions="WIN32;NDEBUG;_LIB"
|
||||
RuntimeLibrary="0"
|
||||
UsePrecompiledHeader="0"
|
||||
WarningLevel="3"
|
||||
Detect64BitPortabilityProblems="true"
|
||||
DebugInformationFormat="3"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCManagedResourceCompilerTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCResourceCompilerTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCPreLinkEventTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCLibrarianTool"
|
||||
OutputFile="$(OutDir)/ExtraSolid35.lib"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCALinkTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCXDCMakeTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCBscMakeTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCFxCopTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCPostBuildEventTool"
|
||||
/>
|
||||
</Configuration>
|
||||
</Configurations>
|
||||
<References>
|
||||
</References>
|
||||
<Files>
|
||||
<Filter
|
||||
Name="Source Files"
|
||||
Filter="cpp;c;cxx;def;odl;idl;hpj;bat;asm;asmx"
|
||||
UniqueIdentifier="{4FC737F1-C7A5-4376-A066-2A32D752A2FF}"
|
||||
>
|
||||
<File
|
||||
RelativePath=".\CombinedSimplexSolver.cpp"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\Solid3EpaPenetrationDepth.cpp"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\Solid3JohnsonSimplexSolver.cpp"
|
||||
>
|
||||
</File>
|
||||
</Filter>
|
||||
<Filter
|
||||
Name="Header Files"
|
||||
Filter="h;hpp;hxx;hm;inl;inc;xsd"
|
||||
UniqueIdentifier="{93995380-89BD-4b04-88EB-625FBE52EBFB}"
|
||||
>
|
||||
<File
|
||||
RelativePath=".\CombinedSimplexSolver.h"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\Solid3EpaPenetrationDepth.h"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\Solid3JohnsonSimplexSolver.h"
|
||||
>
|
||||
</File>
|
||||
</Filter>
|
||||
<Filter
|
||||
Name="Resource Files"
|
||||
Filter="rc;ico;cur;bmp;dlg;rc2;rct;bin;rgs;gif;jpg;jpeg;jpe;resx"
|
||||
UniqueIdentifier="{67DA6AB6-F800-4c08-8B7A-83BB121AAD01}"
|
||||
>
|
||||
</Filter>
|
||||
<File
|
||||
RelativePath=".\ReadMe.txt"
|
||||
>
|
||||
</File>
|
||||
</Files>
|
||||
<Globals>
|
||||
</Globals>
|
||||
</VisualStudioProject>
|
||||
10
Extras/obsolete/ExtraSolid35/Jamfile
Normal file
10
Extras/obsolete/ExtraSolid35/Jamfile
Normal file
@@ -0,0 +1,10 @@
|
||||
SubDir TOP Extras ExtraSolid35 ;
|
||||
|
||||
IncludeDir Extras/ExtraSolid35 ;
|
||||
|
||||
Library ExtraSolid35 : [ Wildcard *.h *.cpp ] ;
|
||||
CFlags ExtraSolid35 : [ FIncludes $(TOP)/Extras/ExtraSolid35 ] ;
|
||||
LibDepends ExtraSolid35 : ;
|
||||
|
||||
|
||||
InstallHeader [ Wildcard *.h ] : ExtraSolid35 ;
|
||||
110
Extras/obsolete/ExtraSolid35/LICENSE_QPL.txt
Normal file
110
Extras/obsolete/ExtraSolid35/LICENSE_QPL.txt
Normal file
@@ -0,0 +1,110 @@
|
||||
|
||||
The SOLID library is Copyright (C) 2001-2003 Dtecta.
|
||||
|
||||
You may use, distribute and copy the SOLID library under the terms of
|
||||
the Q Public License, which is displayed below.
|
||||
|
||||
-------------------------------------------------------------------------
|
||||
THE Q PUBLIC LICENSE
|
||||
version 1.0
|
||||
|
||||
Copyright (C) 1999-2000 Trolltech AS, Norway.
|
||||
Everyone is permitted to copy and
|
||||
distribute this license document.
|
||||
|
||||
The intent of this license is to establish freedom to share and change the
|
||||
software regulated by this license under the open source model.
|
||||
|
||||
This license applies to any software containing a notice placed by the
|
||||
copyright holder saying that it may be distributed under the terms of
|
||||
the Q Public License version 1.0. Such software is herein referred to as
|
||||
the Software. This license covers modification and distribution of the
|
||||
Software, use of third-party application programs based on the Software,
|
||||
and development of free software which uses the Software.
|
||||
|
||||
Granted Rights
|
||||
|
||||
1. You are granted the non-exclusive rights set forth in this license
|
||||
provided you agree to and comply with any and all conditions in this
|
||||
license. Whole or partial distribution of the Software, or software
|
||||
items that link with the Software, in any form signifies acceptance of
|
||||
this license.
|
||||
|
||||
2. You may copy and distribute the Software in unmodified form provided
|
||||
that the entire package, including - but not restricted to - copyright,
|
||||
trademark notices and disclaimers, as released by the initial developer
|
||||
of the Software, is distributed.
|
||||
|
||||
3. You may make modifications to the Software and distribute your
|
||||
modifications, in a form that is separate from the Software, such as
|
||||
patches. The following restrictions apply to modifications:
|
||||
|
||||
a. Modifications must not alter or remove any copyright notices in
|
||||
the Software.
|
||||
|
||||
b. When modifications to the Software are released under this
|
||||
license, a non-exclusive royalty-free right is granted to the
|
||||
initial developer of the Software to distribute your modification
|
||||
in future versions of the Software provided such versions remain
|
||||
available under these terms in addition to any other license(s) of
|
||||
the initial developer.
|
||||
|
||||
4. You may distribute machine-executable forms of the Software or
|
||||
machine-executable forms of modified versions of the Software, provided
|
||||
that you meet these restrictions:
|
||||
|
||||
a. You must include this license document in the distribution.
|
||||
|
||||
b. You must ensure that all recipients of the machine-executable forms
|
||||
are also able to receive the complete machine-readable source code
|
||||
to the distributed Software, including all modifications, without
|
||||
any charge beyond the costs of data transfer, and place prominent
|
||||
notices in the distribution explaining this.
|
||||
|
||||
c. You must ensure that all modifications included in the
|
||||
machine-executable forms are available under the terms of this
|
||||
license.
|
||||
|
||||
5. You may use the original or modified versions of the Software to
|
||||
compile, link and run application programs legally developed by you
|
||||
or by others.
|
||||
|
||||
6. You may develop application programs, reusable components and other
|
||||
software items that link with the original or modified versions of the
|
||||
Software. These items, when distributed, are subject to the following
|
||||
requirements:
|
||||
|
||||
a. You must ensure that all recipients of machine-executable forms of
|
||||
these items are also able to receive and use the complete
|
||||
machine-readable source code to the items without any charge
|
||||
beyond the costs of data transfer.
|
||||
|
||||
b. You must explicitly license all recipients of your items to use
|
||||
and re-distribute original and modified versions of the items in
|
||||
both machine-executable and source code forms. The recipients must
|
||||
be able to do so without any charges whatsoever, and they must be
|
||||
able to re-distribute to anyone they choose.
|
||||
|
||||
|
||||
c. If the items are not available to the general public, and the
|
||||
initial developer of the Software requests a copy of the items,
|
||||
then you must supply one.
|
||||
|
||||
Limitations of Liability
|
||||
|
||||
In no event shall the initial developers or copyright holders be liable
|
||||
for any damages whatsoever, including - but not restricted to - lost
|
||||
revenue or profits or other direct, indirect, special, incidental or
|
||||
consequential damages, even if they have been advised of the possibility
|
||||
of such damages, except to the extent invariable law, if any, provides
|
||||
otherwise.
|
||||
|
||||
No Warranty
|
||||
|
||||
The Software and this license document are provided AS IS with NO WARRANTY
|
||||
OF ANY KIND, INCLUDING THE WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS
|
||||
FOR A PARTICULAR PURPOSE.
|
||||
Choice of Law
|
||||
|
||||
This license is governed by the Laws of Norway. Disputes shall be settled
|
||||
by Oslo City Court.
|
||||
21
Extras/obsolete/ExtraSolid35/ReadMe.txt
Normal file
21
Extras/obsolete/ExtraSolid35/ReadMe.txt
Normal file
@@ -0,0 +1,21 @@
|
||||
========================================================================
|
||||
STATIC LIBRARY : Solid35 Project Overview
|
||||
========================================================================
|
||||
|
||||
AppWizard has created this Solid35 library project for you.
|
||||
No source files were created as part of your project.
|
||||
|
||||
|
||||
Solid35.vcproj
|
||||
This is the main project file for VC++ projects generated using an Application Wizard.
|
||||
It contains information about the version of Visual C++ that generated the file, and
|
||||
information about the platforms, configurations, and project features selected with the
|
||||
Application Wizard.
|
||||
|
||||
/////////////////////////////////////////////////////////////////////////////
|
||||
Other notes:
|
||||
|
||||
AppWizard uses "TODO:" comments to indicate parts of the source code you
|
||||
should add to or customize.
|
||||
|
||||
/////////////////////////////////////////////////////////////////////////////
|
||||
129
Extras/obsolete/ExtraSolid35/Solid35.vcproj
Normal file
129
Extras/obsolete/ExtraSolid35/Solid35.vcproj
Normal file
@@ -0,0 +1,129 @@
|
||||
<?xml version="1.0" encoding="Windows-1252"?>
|
||||
<VisualStudioProject
|
||||
ProjectType="Visual C++"
|
||||
Version="7.10"
|
||||
Name="OptionalSolid35"
|
||||
ProjectGUID="{698BA0FD-10D3-4F4C-8686-1303D6273D46}"
|
||||
Keyword="Win32Proj">
|
||||
<Platforms>
|
||||
<Platform
|
||||
Name="Win32"/>
|
||||
</Platforms>
|
||||
<Configurations>
|
||||
<Configuration
|
||||
Name="Debug|Win32"
|
||||
OutputDirectory="Debug"
|
||||
IntermediateDirectory="Debug"
|
||||
ConfigurationType="4"
|
||||
CharacterSet="2">
|
||||
<Tool
|
||||
Name="VCCLCompilerTool"
|
||||
Optimization="0"
|
||||
PreprocessorDefinitions="WIN32;_DEBUG;_LIB"
|
||||
MinimalRebuild="TRUE"
|
||||
BasicRuntimeChecks="3"
|
||||
RuntimeLibrary="5"
|
||||
UsePrecompiledHeader="0"
|
||||
WarningLevel="3"
|
||||
Detect64BitPortabilityProblems="TRUE"
|
||||
DebugInformationFormat="4"/>
|
||||
<Tool
|
||||
Name="VCCustomBuildTool"/>
|
||||
<Tool
|
||||
Name="VCLibrarianTool"
|
||||
OutputFile="$(OutDir)/Solid35.lib"/>
|
||||
<Tool
|
||||
Name="VCMIDLTool"/>
|
||||
<Tool
|
||||
Name="VCPostBuildEventTool"/>
|
||||
<Tool
|
||||
Name="VCPreBuildEventTool"/>
|
||||
<Tool
|
||||
Name="VCPreLinkEventTool"/>
|
||||
<Tool
|
||||
Name="VCResourceCompilerTool"/>
|
||||
<Tool
|
||||
Name="VCWebServiceProxyGeneratorTool"/>
|
||||
<Tool
|
||||
Name="VCXMLDataGeneratorTool"/>
|
||||
<Tool
|
||||
Name="VCManagedWrapperGeneratorTool"/>
|
||||
<Tool
|
||||
Name="VCAuxiliaryManagedWrapperGeneratorTool"/>
|
||||
</Configuration>
|
||||
<Configuration
|
||||
Name="Release|Win32"
|
||||
OutputDirectory="Release"
|
||||
IntermediateDirectory="Release"
|
||||
ConfigurationType="4"
|
||||
CharacterSet="2">
|
||||
<Tool
|
||||
Name="VCCLCompilerTool"
|
||||
PreprocessorDefinitions="WIN32;NDEBUG;_LIB"
|
||||
RuntimeLibrary="4"
|
||||
UsePrecompiledHeader="0"
|
||||
WarningLevel="3"
|
||||
Detect64BitPortabilityProblems="TRUE"
|
||||
DebugInformationFormat="3"/>
|
||||
<Tool
|
||||
Name="VCCustomBuildTool"/>
|
||||
<Tool
|
||||
Name="VCLibrarianTool"
|
||||
OutputFile="$(OutDir)/Solid35.lib"/>
|
||||
<Tool
|
||||
Name="VCMIDLTool"/>
|
||||
<Tool
|
||||
Name="VCPostBuildEventTool"/>
|
||||
<Tool
|
||||
Name="VCPreBuildEventTool"/>
|
||||
<Tool
|
||||
Name="VCPreLinkEventTool"/>
|
||||
<Tool
|
||||
Name="VCResourceCompilerTool"/>
|
||||
<Tool
|
||||
Name="VCWebServiceProxyGeneratorTool"/>
|
||||
<Tool
|
||||
Name="VCXMLDataGeneratorTool"/>
|
||||
<Tool
|
||||
Name="VCManagedWrapperGeneratorTool"/>
|
||||
<Tool
|
||||
Name="VCAuxiliaryManagedWrapperGeneratorTool"/>
|
||||
</Configuration>
|
||||
</Configurations>
|
||||
<References>
|
||||
</References>
|
||||
<Files>
|
||||
<Filter
|
||||
Name="Source Files"
|
||||
Filter="cpp;c;cxx;def;odl;idl;hpj;bat;asm;asmx"
|
||||
UniqueIdentifier="{4FC737F1-C7A5-4376-A066-2A32D752A2FF}">
|
||||
<File
|
||||
RelativePath=".\Solid3EpaPenetrationDepth.cpp">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\Solid3JohnsonSimplexSolver.cpp">
|
||||
</File>
|
||||
</Filter>
|
||||
<Filter
|
||||
Name="Header Files"
|
||||
Filter="h;hpp;hxx;hm;inl;inc;xsd"
|
||||
UniqueIdentifier="{93995380-89BD-4b04-88EB-625FBE52EBFB}">
|
||||
<File
|
||||
RelativePath=".\Solid3EpaPenetrationDepth.h">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\Solid3JohnsonSimplexSolver.h">
|
||||
</File>
|
||||
</Filter>
|
||||
<Filter
|
||||
Name="Resource Files"
|
||||
Filter="rc;ico;cur;bmp;dlg;rc2;rct;bin;rgs;gif;jpg;jpeg;jpe;resx"
|
||||
UniqueIdentifier="{67DA6AB6-F800-4c08-8B7A-83BB121AAD01}">
|
||||
</Filter>
|
||||
<File
|
||||
RelativePath=".\ReadMe.txt">
|
||||
</File>
|
||||
</Files>
|
||||
<Globals>
|
||||
</Globals>
|
||||
</VisualStudioProject>
|
||||
589
Extras/obsolete/ExtraSolid35/Solid3EpaPenetrationDepth.cpp
Normal file
589
Extras/obsolete/ExtraSolid35/Solid3EpaPenetrationDepth.cpp
Normal file
@@ -0,0 +1,589 @@
|
||||
/*
|
||||
* SOLID - Software Library for Interference Detection
|
||||
*
|
||||
* Copyright (C) 2001-2003 Dtecta. All rights reserved.
|
||||
*
|
||||
* This library may be distributed under the terms of the Q Public License
|
||||
* (QPL) as defined by Trolltech AS of Norway and appearing in the file
|
||||
* LICENSE.QPL included in the packaging of this file.
|
||||
*
|
||||
* This library may be distributed and/or modified under the terms of the
|
||||
* GNU bteral Public License (GPL) version 2 as published by the Free Software
|
||||
* Foundation and appearing in the file LICENSE.GPL included in the
|
||||
* packaging of this file.
|
||||
*
|
||||
* This library is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
|
||||
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
|
||||
*
|
||||
* Commercial use or any other use of this library not covered by either
|
||||
* the QPL or the GPL requires an additional license from Dtecta.
|
||||
* Please contact info@dtecta.com for enquiries about the terms of commercial
|
||||
* use of this library.
|
||||
*/
|
||||
|
||||
#include "Solid3EpaPenetrationDepth.h"
|
||||
#include <algorithm>
|
||||
#include <vector>
|
||||
#include "BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h"
|
||||
#include "BulletCollision/CollisionShapes/btConvexShape.h"
|
||||
#include "LinearMath/btMinMax.h"
|
||||
|
||||
#define ASSERT_MESSAGE
|
||||
|
||||
class ReplaceMeAccuracy {
|
||||
public:
|
||||
static btScalar rel_error2; // squared relative error in the computed distance
|
||||
static btScalar depth_tolerance; // terminate EPA if upper_bound <= depth_tolerance * dist2
|
||||
static btScalar tol_error; // error tolerance if the distance is almost zero
|
||||
|
||||
static void setAccuracy(btScalar rel_error)
|
||||
{
|
||||
rel_error2 = rel_error * rel_error;
|
||||
depth_tolerance = btScalar(1.0f) + btScalar(2.0f) * rel_error;
|
||||
}
|
||||
|
||||
static void setTolerance(btScalar epsilon)
|
||||
{
|
||||
tol_error = epsilon;
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
static const btScalar rel_error = btScalar(1.0e-3);
|
||||
|
||||
btScalar ReplaceMeAccuracy::rel_error2 = rel_error * rel_error;
|
||||
btScalar ReplaceMeAccuracy::depth_tolerance = btScalar(1.0) + btScalar(2.0) * rel_error;
|
||||
btScalar ReplaceMeAccuracy::tol_error = SIMD_EPSILON;
|
||||
|
||||
|
||||
|
||||
|
||||
class ReplaceMeFacet;
|
||||
|
||||
|
||||
class ReplaceMeEdge {
|
||||
public:
|
||||
ReplaceMeEdge() {}
|
||||
ReplaceMeEdge(ReplaceMeFacet *facet, int index) :
|
||||
m_facet(facet),
|
||||
m_index(index) {}
|
||||
|
||||
ReplaceMeFacet *getFacet() const { return m_facet; }
|
||||
int getIndex() const { return m_index; }
|
||||
|
||||
int getSource() const;
|
||||
int getTarget() const;
|
||||
|
||||
private:
|
||||
ReplaceMeFacet *m_facet;
|
||||
int m_index;
|
||||
};
|
||||
|
||||
typedef std::vector<ReplaceMeEdge> ReplaceMeEdgeBuffer;
|
||||
|
||||
|
||||
class ReplaceMeFacet {
|
||||
public:
|
||||
ReplaceMeFacet() {}
|
||||
ReplaceMeFacet(int i0, int i1, int i2)
|
||||
: m_obsolete(false)
|
||||
{
|
||||
m_indices[0] = i0;
|
||||
m_indices[1] = i1;
|
||||
m_indices[2] = i2;
|
||||
}
|
||||
|
||||
inline int operator[](int i) const { return m_indices[i]; }
|
||||
|
||||
bool link(int edge0, ReplaceMeFacet *facet, int edge1);
|
||||
|
||||
|
||||
bool isObsolete() const { return m_obsolete; }
|
||||
|
||||
|
||||
bool computeClosest(const btVector3 *verts);
|
||||
|
||||
const btVector3& getClosest() const { return m_closest; }
|
||||
|
||||
bool isClosestInternal() const
|
||||
{
|
||||
return m_lambda1 >= btScalar(0.0) &&
|
||||
m_lambda2 >= btScalar(0.0) &&
|
||||
m_lambda1 + m_lambda2 <= m_det;
|
||||
}
|
||||
|
||||
btScalar getDist2() const { return m_dist2; }
|
||||
|
||||
btPoint3 getClosestPoint(const btPoint3 *points) const
|
||||
{
|
||||
const btPoint3& p0 = points[m_indices[0]];
|
||||
|
||||
return p0 + (m_lambda1 * (points[m_indices[1]] - p0) +
|
||||
m_lambda2 * (points[m_indices[2]] - p0)) / m_det;
|
||||
}
|
||||
|
||||
void silhouette(const btVector3& w, ReplaceMeEdgeBuffer& edgeBuffer)
|
||||
{
|
||||
edgeBuffer.clear();
|
||||
m_obsolete = true;
|
||||
m_adjFacets[0]->silhouette(m_adjEdges[0], w, edgeBuffer);
|
||||
m_adjFacets[1]->silhouette(m_adjEdges[1], w, edgeBuffer);
|
||||
m_adjFacets[2]->silhouette(m_adjEdges[2], w, edgeBuffer);
|
||||
}
|
||||
|
||||
private:
|
||||
void silhouette(int index, const btVector3& w, ReplaceMeEdgeBuffer& edgeBuffer);
|
||||
|
||||
int m_indices[3];
|
||||
bool m_obsolete;
|
||||
ReplaceMeFacet *m_adjFacets[3];
|
||||
int m_adjEdges[3];
|
||||
|
||||
btScalar m_det;
|
||||
btScalar m_lambda1;
|
||||
btScalar m_lambda2;
|
||||
btVector3 m_closest;
|
||||
btScalar m_dist2;
|
||||
};
|
||||
|
||||
|
||||
inline int incMod3(int i) { return ++i % 3; }
|
||||
|
||||
|
||||
bool ReplaceMeFacet::link(int edge0, ReplaceMeFacet *facet, int edge1)
|
||||
{
|
||||
m_adjFacets[edge0] = facet;
|
||||
m_adjEdges[edge0] = edge1;
|
||||
facet->m_adjFacets[edge1] = this;
|
||||
facet->m_adjEdges[edge1] = edge0;
|
||||
|
||||
bool b = m_indices[edge0] == facet->m_indices[incMod3(edge1)] &&
|
||||
m_indices[incMod3(edge0)] == facet->m_indices[edge1];
|
||||
return b;
|
||||
}
|
||||
|
||||
|
||||
bool ReplaceMeFacet::computeClosest(const btVector3 *verts)
|
||||
{
|
||||
const btVector3& p0 = verts[m_indices[0]];
|
||||
|
||||
btVector3 v1 = verts[m_indices[1]] - p0;
|
||||
btVector3 v2 = verts[m_indices[2]] - p0;
|
||||
btScalar v1dv1 = v1.length2();
|
||||
btScalar v1dv2 = v1.dot(v2);
|
||||
btScalar v2dv2 = v2.length2();
|
||||
btScalar p0dv1 = p0.dot(v1);
|
||||
btScalar p0dv2 = p0.dot(v2);
|
||||
|
||||
m_det = v1dv1 * v2dv2 - v1dv2 * v1dv2; // non-negative
|
||||
//printf("m_det = %f\n",m_det);
|
||||
//ASSERT(m_det >= 0.f);
|
||||
|
||||
if (m_det >= (SIMD_EPSILON*SIMD_EPSILON)) {
|
||||
|
||||
m_lambda1 = p0dv2 * v1dv2 - p0dv1 * v2dv2;
|
||||
m_lambda2 = p0dv1 * v1dv2 - p0dv2 * v1dv1;
|
||||
|
||||
m_closest = p0 + (m_lambda1 * v1 + m_lambda2 * v2) / m_det;
|
||||
m_dist2 = m_closest.length2();
|
||||
return true;
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
void ReplaceMeFacet::silhouette(int index, const btVector3& w,
|
||||
ReplaceMeEdgeBuffer& edgeBuffer)
|
||||
{
|
||||
if (!m_obsolete) {
|
||||
if (m_closest.dot(w) < m_dist2) {
|
||||
edgeBuffer.push_back(ReplaceMeEdge(this, index));
|
||||
}
|
||||
else {
|
||||
m_obsolete = true; // Facet is visible
|
||||
int next = incMod3(index);
|
||||
m_adjFacets[next]->silhouette(m_adjEdges[next], w, edgeBuffer);
|
||||
next = incMod3(next);
|
||||
m_adjFacets[next]->silhouette(m_adjEdges[next], w, edgeBuffer);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
inline int ReplaceMeEdge::getSource() const
|
||||
{
|
||||
return (*m_facet)[m_index];
|
||||
}
|
||||
|
||||
inline int ReplaceMeEdge::getTarget() const
|
||||
{
|
||||
return (*m_facet)[incMod3(m_index)];
|
||||
}
|
||||
|
||||
|
||||
//#define DEBUG
|
||||
|
||||
const int MaxSupportPoints = 100;//1000;
|
||||
const int MaxFacets = 200;//b2000;
|
||||
|
||||
static btPoint3 pBuf[MaxSupportPoints];
|
||||
static btPoint3 qBuf[MaxSupportPoints];
|
||||
static btVector3 yBuf[MaxSupportPoints];
|
||||
|
||||
static ReplaceMeFacet facetBuf[MaxFacets];
|
||||
static int freeFacet = 0;
|
||||
static ReplaceMeFacet *facetHeap[MaxFacets];
|
||||
static int num_facets;
|
||||
|
||||
class ReplaceMeFacetComp {
|
||||
public:
|
||||
|
||||
bool operator()(const ReplaceMeFacet *face1, const ReplaceMeFacet *face2)
|
||||
{
|
||||
return face1->getDist2() > face2->getDist2();
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
ReplaceMeFacetComp myFacetComp;
|
||||
|
||||
inline ReplaceMeFacet *addFacet(int i0, int i1, int i2,
|
||||
btScalar lower2, btScalar upper2)
|
||||
{
|
||||
assert(i0 != i1 && i0 != i2 && i1 != i2);
|
||||
if (freeFacet < MaxFacets)
|
||||
{
|
||||
ReplaceMeFacet *facet = new(&facetBuf[freeFacet++]) ReplaceMeFacet(i0, i1, i2);
|
||||
#ifdef DEBUG
|
||||
std::cout << "Facet " << i0 << ' ' << i1 << ' ' << i2;
|
||||
#endif
|
||||
if (facet->computeClosest(yBuf))
|
||||
{
|
||||
if (facet->isClosestInternal() &&
|
||||
lower2 <= facet->getDist2() && facet->getDist2() <= upper2)
|
||||
{
|
||||
facetHeap[num_facets++] = facet;
|
||||
ASSERT_MESSAGE(num_facets<MaxFacets,"Error in facet/pendepth");
|
||||
|
||||
std::push_heap(&facetHeap[0], &facetHeap[num_facets], myFacetComp);
|
||||
#ifdef DEBUG
|
||||
std::cout << " accepted" << std::endl;
|
||||
#endif
|
||||
}
|
||||
else
|
||||
{
|
||||
#ifdef DEBUG
|
||||
std::cout << " rejected, ";
|
||||
if (!facet->isClosestInternal())
|
||||
{
|
||||
std::cout << "closest point not internal";
|
||||
}
|
||||
else if (lower2 > facet->getDist2())
|
||||
{
|
||||
std::cout << "facet is closer than orignal facet";
|
||||
}
|
||||
else
|
||||
{
|
||||
std::cout << "facet is further than upper bound";
|
||||
}
|
||||
std::cout << std::endl;
|
||||
#endif
|
||||
}
|
||||
|
||||
return facet;
|
||||
}
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
|
||||
inline bool originInTetrahedron(const btVector3& p1, const btVector3& p2,
|
||||
const btVector3& p3, const btVector3& p4)
|
||||
{
|
||||
btVector3 normal1 = (p2 - p1).cross(p3 - p1);
|
||||
btVector3 normal2 = (p3 - p2).cross(p4 - p2);
|
||||
btVector3 normal3 = (p4 - p3).cross(p1 - p3);
|
||||
btVector3 normal4 = (p1 - p4).cross(p2 - p4);
|
||||
|
||||
return
|
||||
(normal1.dot(p1) > btScalar(0.0)) != (normal1.dot(p4) > btScalar(0.0)) &&
|
||||
(normal2.dot(p2) > btScalar(0.0)) != (normal2.dot(p1) > btScalar(0.0)) &&
|
||||
(normal3.dot(p3) > btScalar(0.0)) != (normal3.dot(p2) > btScalar(0.0)) &&
|
||||
(normal4.dot(p4) > btScalar(0.0)) != (normal4.dot(p3) > btScalar(0.0));
|
||||
}
|
||||
|
||||
|
||||
|
||||
bool Solid3EpaPenetrationDepth::calcPenDepth( btSimplexSolverInterface& simplexSolver,
|
||||
btConvexShape* convexA,btConvexShape* convexB,
|
||||
const btTransform& transformA,const btTransform& transformB,
|
||||
btVector3& v, btPoint3& pa, btPoint3& pb,
|
||||
class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc
|
||||
)
|
||||
{
|
||||
|
||||
int num_verts = simplexSolver.getSimplex(pBuf, qBuf, yBuf);
|
||||
|
||||
switch (num_verts)
|
||||
{
|
||||
case 1:
|
||||
// Touching contact. Yes, we have a collision,
|
||||
// but no penetration.
|
||||
return false;
|
||||
case 2:
|
||||
{
|
||||
// We have a line segment inside the Minkowski sum containing the
|
||||
// origin. Blow it up by adding three additional support points.
|
||||
|
||||
btVector3 dir = (yBuf[1] - yBuf[0]).normalized();
|
||||
int axis = dir.furthestAxis();
|
||||
|
||||
static btScalar sin_60 = 0.8660254037f;//84438646763723170752941.22474487f;//13915890490986420373529;//
|
||||
|
||||
btQuaternion rot(dir[0] * sin_60, dir[1] * sin_60, dir[2] * sin_60, btScalar(0.5));
|
||||
btMatrix3x3 rot_mat(rot);
|
||||
|
||||
btVector3 aux1 = dir.cross(btVector3(axis == 0, axis == 1, axis == 2));
|
||||
btVector3 aux2 = rot_mat * aux1;
|
||||
btVector3 aux3 = rot_mat * aux2;
|
||||
|
||||
pBuf[2] = transformA(convexA->localGetSupportingVertex(aux1*transformA.getBasis()));
|
||||
qBuf[2] = transformB(convexB->localGetSupportingVertex((-aux1)*transformB.getBasis()));
|
||||
yBuf[2] = pBuf[2] - qBuf[2];
|
||||
|
||||
pBuf[3] = transformA(convexA->localGetSupportingVertex(aux2*transformA.getBasis()));
|
||||
qBuf[3] = transformB(convexB->localGetSupportingVertex((-aux2)*transformB.getBasis()));
|
||||
yBuf[3] = pBuf[3] - qBuf[3];
|
||||
|
||||
pBuf[4] = transformA(convexA->localGetSupportingVertex(aux3*transformA.getBasis()));
|
||||
qBuf[4] = transformB(convexB->localGetSupportingVertex((-aux3)*transformB.getBasis()));
|
||||
yBuf[4] = pBuf[4] - qBuf[4];
|
||||
|
||||
if (originInTetrahedron(yBuf[0], yBuf[2], yBuf[3], yBuf[4]))
|
||||
{
|
||||
pBuf[1] = pBuf[4];
|
||||
qBuf[1] = qBuf[4];
|
||||
yBuf[1] = yBuf[4];
|
||||
}
|
||||
else if (originInTetrahedron(yBuf[1], yBuf[2], yBuf[3], yBuf[4]))
|
||||
{
|
||||
pBuf[0] = pBuf[4];
|
||||
qBuf[0] = qBuf[4];
|
||||
yBuf[0] = yBuf[4];
|
||||
}
|
||||
else
|
||||
{
|
||||
// Origin not in initial polytope
|
||||
return false;
|
||||
}
|
||||
|
||||
num_verts = 4;
|
||||
|
||||
break;
|
||||
}
|
||||
case 3:
|
||||
{
|
||||
// We have a triangle inside the Minkowski sum containing
|
||||
// the origin. First blow it up.
|
||||
|
||||
btVector3 v1 = yBuf[1] - yBuf[0];
|
||||
btVector3 v2 = yBuf[2] - yBuf[0];
|
||||
btVector3 vv = v1.cross(v2);
|
||||
|
||||
pBuf[3] = transformA(convexA->localGetSupportingVertex(vv*transformA.getBasis()));
|
||||
qBuf[3] = transformB(convexB->localGetSupportingVertex((-vv)*transformB.getBasis()));
|
||||
yBuf[3] = pBuf[3] - qBuf[3];
|
||||
pBuf[4] = transformA(convexA->localGetSupportingVertex((-vv)*transformA.getBasis()));
|
||||
qBuf[4] = transformB(convexB->localGetSupportingVertex(vv*transformB.getBasis()));
|
||||
yBuf[4] = pBuf[4] - qBuf[4];
|
||||
|
||||
|
||||
if (originInTetrahedron(yBuf[0], yBuf[1], yBuf[2], yBuf[4]))
|
||||
{
|
||||
pBuf[3] = pBuf[4];
|
||||
qBuf[3] = qBuf[4];
|
||||
yBuf[3] = yBuf[4];
|
||||
}
|
||||
else if (!originInTetrahedron(yBuf[0], yBuf[1], yBuf[2], yBuf[3]))
|
||||
{
|
||||
// Origin not in initial polytope
|
||||
return false;
|
||||
}
|
||||
|
||||
num_verts = 4;
|
||||
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
// We have a tetrahedron inside the Minkowski sum containing
|
||||
// the origin (if GJK did it's job right ;-)
|
||||
|
||||
|
||||
if (!originInTetrahedron(yBuf[0], yBuf[1], yBuf[2], yBuf[3]))
|
||||
{
|
||||
// assert(false);
|
||||
return false;
|
||||
}
|
||||
|
||||
num_facets = 0;
|
||||
freeFacet = 0;
|
||||
|
||||
ReplaceMeFacet *f0 = addFacet(0, 1, 2, btScalar(0.0), SIMD_INFINITY);
|
||||
ReplaceMeFacet *f1 = addFacet(0, 3, 1, btScalar(0.0), SIMD_INFINITY);
|
||||
ReplaceMeFacet *f2 = addFacet(0, 2, 3, btScalar(0.0), SIMD_INFINITY);
|
||||
ReplaceMeFacet *f3 = addFacet(1, 3, 2, btScalar(0.0), SIMD_INFINITY);
|
||||
|
||||
if (!f0 || f0->getDist2() == btScalar(0.0) ||
|
||||
!f1 || f1->getDist2() == btScalar(0.0) ||
|
||||
!f2 || f2->getDist2() == btScalar(0.0) ||
|
||||
!f3 || f3->getDist2() == btScalar(0.0))
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
f0->link(0, f1, 2);
|
||||
f0->link(1, f3, 2);
|
||||
f0->link(2, f2, 0);
|
||||
f1->link(0, f2, 2);
|
||||
f1->link(1, f3, 0);
|
||||
f2->link(1, f3, 1);
|
||||
|
||||
if (num_facets == 0)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
// at least one facet on the heap.
|
||||
|
||||
ReplaceMeEdgeBuffer edgeBuffer(20);
|
||||
|
||||
ReplaceMeFacet *facet = 0;
|
||||
|
||||
btScalar upper_bound2 = SIMD_INFINITY;
|
||||
|
||||
do {
|
||||
facet = facetHeap[0];
|
||||
std::pop_heap(&facetHeap[0], &facetHeap[num_facets], myFacetComp);
|
||||
--num_facets;
|
||||
|
||||
if (!facet->isObsolete())
|
||||
{
|
||||
assert(facet->getDist2() > btScalar(0.0));
|
||||
|
||||
if (num_verts == MaxSupportPoints)
|
||||
{
|
||||
#ifdef DEBUG
|
||||
std::cout << "Ouch, no convergence!!!" << std::endl;
|
||||
#endif
|
||||
ASSERT_MESSAGE(false,"Error: pendepth calc failed");
|
||||
break;
|
||||
}
|
||||
|
||||
pBuf[num_verts] = transformA(convexA->localGetSupportingVertex((facet->getClosest())*transformA.getBasis()));
|
||||
qBuf[num_verts] = transformB(convexB->localGetSupportingVertex((-facet->getClosest())*transformB.getBasis()));
|
||||
yBuf[num_verts] = pBuf[num_verts] - qBuf[num_verts];
|
||||
|
||||
|
||||
int index = num_verts++;
|
||||
btScalar far_dist2 = yBuf[index].dot(facet->getClosest());
|
||||
|
||||
|
||||
// Make sure the support mapping is OK.
|
||||
//assert(far_dist2 > btScalar(0.0));
|
||||
|
||||
//
|
||||
// this is to avoid problems with implicit-sphere-touching contact
|
||||
//
|
||||
if (far_dist2 < btScalar(0.0))
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
GEN_set_min(upper_bound2, (far_dist2 * far_dist2) / facet->getDist2());
|
||||
|
||||
if (upper_bound2 <= ReplaceMeAccuracy::depth_tolerance * facet->getDist2()
|
||||
#define CHECK_NEW_SUPPORT
|
||||
#ifdef CHECK_NEW_SUPPORT
|
||||
|| yBuf[index] == yBuf[(*facet)[0]]
|
||||
|| yBuf[index] == yBuf[(*facet)[1]]
|
||||
|| yBuf[index] == yBuf[(*facet)[2]]
|
||||
#endif
|
||||
)
|
||||
{
|
||||
break;
|
||||
}
|
||||
|
||||
// Compute the silhouette cast by the new vertex
|
||||
// Note that the new vertex is on the positive side
|
||||
// of the current facet, so the current facet is will
|
||||
// not be in the convex hull. Start local search
|
||||
// from this facet.
|
||||
|
||||
facet->silhouette(yBuf[index], edgeBuffer);
|
||||
|
||||
if (edgeBuffer.empty())
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
ReplaceMeEdgeBuffer::const_iterator it = edgeBuffer.begin();
|
||||
ReplaceMeFacet *firstFacet =
|
||||
addFacet((*it).getTarget(), (*it).getSource(),
|
||||
index, facet->getDist2(), upper_bound2);
|
||||
|
||||
if (!firstFacet)
|
||||
{
|
||||
break;
|
||||
}
|
||||
|
||||
firstFacet->link(0, (*it).getFacet(), (*it).getIndex());
|
||||
ReplaceMeFacet *lastFacet = firstFacet;
|
||||
|
||||
++it;
|
||||
for (; it != edgeBuffer.end(); ++it)
|
||||
{
|
||||
ReplaceMeFacet *newFacet =
|
||||
addFacet((*it).getTarget(), (*it).getSource(),
|
||||
index, facet->getDist2(), upper_bound2);
|
||||
|
||||
if (!newFacet)
|
||||
{
|
||||
break;
|
||||
}
|
||||
|
||||
if (!newFacet->link(0, (*it).getFacet(), (*it).getIndex()))
|
||||
{
|
||||
break;
|
||||
}
|
||||
|
||||
if (!newFacet->link(2, lastFacet, 1))
|
||||
{
|
||||
break;
|
||||
}
|
||||
|
||||
lastFacet = newFacet;
|
||||
}
|
||||
if (it != edgeBuffer.end())
|
||||
{
|
||||
break;
|
||||
}
|
||||
|
||||
firstFacet->link(2, lastFacet, 1);
|
||||
}
|
||||
}
|
||||
while (num_facets > 0 && facetHeap[0]->getDist2() <= upper_bound2);
|
||||
|
||||
#ifdef DEBUG
|
||||
std::cout << "#facets left = " << num_facets << std::endl;
|
||||
#endif
|
||||
|
||||
v = facet->getClosest();
|
||||
pa = facet->getClosestPoint(pBuf);
|
||||
pb = facet->getClosestPoint(qBuf);
|
||||
return true;
|
||||
}
|
||||
|
||||
44
Extras/obsolete/ExtraSolid35/Solid3EpaPenetrationDepth.h
Normal file
44
Extras/obsolete/ExtraSolid35/Solid3EpaPenetrationDepth.h
Normal file
@@ -0,0 +1,44 @@
|
||||
/*
|
||||
* SOLID - Software Library for Interference Detection
|
||||
*
|
||||
* Copyright (C) 2001-2003 Dtecta. All rights reserved.
|
||||
*
|
||||
* This library may be distributed under the terms of the Q Public License
|
||||
* (QPL) as defined by Trolltech AS of Norway and appearing in the file
|
||||
* LICENSE.QPL included in the packaging of this file.
|
||||
*
|
||||
* This library may be distributed and/or modified under the terms of the
|
||||
* GNU bteral Public License (GPL) version 2 as published by the Free Software
|
||||
* Foundation and appearing in the file LICENSE.GPL included in the
|
||||
* packaging of this file.
|
||||
*
|
||||
* This library is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
|
||||
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
|
||||
*
|
||||
* Commercial use or any other use of this library not covered by either
|
||||
* the QPL or the GPL requires an additional license from Dtecta.
|
||||
* Please contact info@dtecta.com for enquiries about the terms of commercial
|
||||
* use of this library.
|
||||
*/
|
||||
|
||||
#ifndef SOLID3_EPA_PENETRATION_DEPTH_H
|
||||
#define SOLID3_EPA_PENETRATION_DEPTH_H
|
||||
|
||||
|
||||
#include "BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h"
|
||||
|
||||
/// Solid3EpaPenetrationDepth contains the 'Expanding Polytope Algorithm' from Solid 3.5
|
||||
class Solid3EpaPenetrationDepth : public btConvexPenetrationDepthSolver
|
||||
{
|
||||
public:
|
||||
|
||||
virtual bool calcPenDepth( btSimplexSolverInterface& simplexSolver,
|
||||
btConvexShape* convexA,btConvexShape* convexB,
|
||||
const btTransform& transA,const btTransform& transB,
|
||||
btVector3& v, btPoint3& pa, btPoint3& pb,
|
||||
class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc
|
||||
);
|
||||
|
||||
};
|
||||
|
||||
#endif //SOLID3_EPA_PENETRATION_DEPTH_H
|
||||
450
Extras/obsolete/ExtraSolid35/Solid3JohnsonSimplexSolver.cpp
Normal file
450
Extras/obsolete/ExtraSolid35/Solid3JohnsonSimplexSolver.cpp
Normal file
@@ -0,0 +1,450 @@
|
||||
/*
|
||||
* SOLID - Software Library for Interference Detection
|
||||
*
|
||||
* Copyright (C) 2001-2003 Dtecta. All rights reserved.
|
||||
*
|
||||
* This library may be distributed under the terms of the Q Public License
|
||||
* (QPL) as defined by Trolltech AS of Norway and appearing in the file
|
||||
* LICENSE.QPL included in the packaging of this file.
|
||||
*
|
||||
* This library may be distributed and/or modified under the terms of the
|
||||
* GNU bteral Public License (GPL) version 2 as published by the Free Software
|
||||
* Foundation and appearing in the file LICENSE.GPL included in the
|
||||
* packaging of this file.
|
||||
*
|
||||
* This library is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
|
||||
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
|
||||
*
|
||||
* Commercial use or any other use of this library not covered by either
|
||||
* the QPL or the GPL requires an additional license from Dtecta.
|
||||
* Please contact info@dtecta.com for enquiries about the terms of commercial
|
||||
* use of this library.
|
||||
*/
|
||||
|
||||
#include "Solid3JohnsonSimplexSolver.h"
|
||||
#include "LinearMath/btMinMax.h"
|
||||
|
||||
//#define USE_BACKUP_PROCEDURE
|
||||
//#define FAST_CLOSEST
|
||||
|
||||
Solid3JohnsonSimplexSolver::Solid3JohnsonSimplexSolver()
|
||||
:
|
||||
m_bits1(0x0),
|
||||
m_all_bits(0x0)
|
||||
{
|
||||
}
|
||||
|
||||
|
||||
Solid3JohnsonSimplexSolver::~Solid3JohnsonSimplexSolver()
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
void Solid3JohnsonSimplexSolver::reset()
|
||||
{
|
||||
m_bits1 = 0x0;
|
||||
m_all_bits = 0x0;
|
||||
}
|
||||
|
||||
|
||||
|
||||
void Solid3JohnsonSimplexSolver::addVertex(const btVector3& w)
|
||||
{
|
||||
assert(!fullSimplex());
|
||||
m_last = 0;
|
||||
m_last_bit = 0x1;
|
||||
while (contains(m_bits1, m_last_bit))
|
||||
{
|
||||
++m_last;
|
||||
m_last_bit <<= 1;
|
||||
}
|
||||
m_y[m_last] = w;
|
||||
m_ylen2[m_last] = w.length2();
|
||||
m_all_bits = m_bits1 | m_last_bit;
|
||||
|
||||
update_cache();
|
||||
compute_det();
|
||||
}
|
||||
|
||||
void Solid3JohnsonSimplexSolver::addVertex(const btVector3& w, const btPoint3& p, const btPoint3& q)
|
||||
{
|
||||
addVertex(w);
|
||||
m_p[m_last] = p;
|
||||
m_q[m_last] = q;
|
||||
}
|
||||
|
||||
bool Solid3JohnsonSimplexSolver::emptySimplex() const
|
||||
{
|
||||
return m_bits1 == 0x0;
|
||||
}
|
||||
|
||||
bool Solid3JohnsonSimplexSolver::fullSimplex() const
|
||||
{
|
||||
return m_bits1 == 0xf;
|
||||
}
|
||||
|
||||
btScalar Solid3JohnsonSimplexSolver::maxVertex()
|
||||
{
|
||||
return m_maxlen2;
|
||||
}
|
||||
|
||||
bool Solid3JohnsonSimplexSolver::closest(btVector3& v)
|
||||
{
|
||||
#ifdef FAST_CLOSEST
|
||||
T_Bits s;
|
||||
for (s = m_bits1; s != 0x0; --s)
|
||||
{
|
||||
if (subseteq(s, m_bits1) && valid(s | m_last_bit))
|
||||
{
|
||||
//update bits !
|
||||
m_bits1 = s | m_last_bit;
|
||||
compute_vector(m_bits1, v);
|
||||
return true;
|
||||
}
|
||||
}
|
||||
if (valid(m_last_bit))
|
||||
{
|
||||
//update bits !
|
||||
m_bits1 = m_last_bit;
|
||||
m_maxlen2 = m_ylen2[m_last];
|
||||
v = m_y[m_last];
|
||||
return true;
|
||||
}
|
||||
#else
|
||||
T_Bits s;
|
||||
for (s = m_all_bits; s != 0x0; --s)
|
||||
{
|
||||
if (subseteq(s, m_all_bits) && valid(s))
|
||||
{
|
||||
m_bits1 = s;
|
||||
compute_vector(m_bits1, v);
|
||||
return true;
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
||||
// Original GJK calls the backup procedure at this point.
|
||||
#ifdef USE_BACKUP_PROCEDURE
|
||||
backup_closest(btVector3& v);
|
||||
#endif
|
||||
return false;
|
||||
}
|
||||
|
||||
|
||||
|
||||
int Solid3JohnsonSimplexSolver::getSimplex(btPoint3 *pBuf, btPoint3 *qBuf, btVector3 *yBuf) const
|
||||
{
|
||||
int num_verts = 0;
|
||||
int i;
|
||||
T_Bits bit;
|
||||
for (i = 0, bit = 0x1; i < 4; ++i, bit <<= 1)
|
||||
{
|
||||
if (contains(m_bits1, bit))
|
||||
{
|
||||
pBuf[num_verts] = m_p[i];
|
||||
qBuf[num_verts] = m_q[i];
|
||||
yBuf[num_verts] = m_y[i];
|
||||
|
||||
#ifdef DEBUG
|
||||
std::cout << "Point " << i << " = " << m_y[i] << std::endl;
|
||||
#endif
|
||||
|
||||
++num_verts;
|
||||
}
|
||||
}
|
||||
return num_verts;
|
||||
}
|
||||
|
||||
bool Solid3JohnsonSimplexSolver::inSimplex(const btVector3& w)
|
||||
{
|
||||
int i;
|
||||
T_Bits bit;
|
||||
for (i = 0, bit = 0x1; i < 4; ++i, bit <<= 1)
|
||||
{
|
||||
if (contains(m_all_bits, bit) && w == m_y[i])
|
||||
{
|
||||
return true;
|
||||
}
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
|
||||
|
||||
void Solid3JohnsonSimplexSolver::backup_closest(btVector3& v)
|
||||
{
|
||||
btScalar min_dist2 = SIMD_INFINITY;
|
||||
|
||||
T_Bits s;
|
||||
for (s = m_all_bits; s != 0x0; --s)
|
||||
{
|
||||
if (subseteq(s, m_all_bits) && proper(s))
|
||||
{
|
||||
btVector3 u;
|
||||
compute_vector(s, u);
|
||||
btScalar dist2 = u.length2();
|
||||
if (dist2 < min_dist2)
|
||||
{
|
||||
min_dist2 = dist2;
|
||||
//update bits !
|
||||
m_bits1 = s;
|
||||
v = u;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void Solid3JohnsonSimplexSolver::compute_points(btPoint3& p1, btPoint3& p2)
|
||||
{
|
||||
btScalar sum = btScalar(0.0);
|
||||
p1.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
|
||||
p2.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
|
||||
int i;
|
||||
T_Bits bit;
|
||||
for (i = 0, bit = 0x1; i < 4; ++i, bit <<= 1)
|
||||
{
|
||||
if (contains(m_bits1, bit))
|
||||
{
|
||||
sum += m_det[m_bits1][i];
|
||||
p1 += m_p[i] * m_det[m_bits1][i];
|
||||
p2 += m_q[i] * m_det[m_bits1][i];
|
||||
}
|
||||
}
|
||||
|
||||
assert(sum > btScalar(0.0));
|
||||
btScalar s = btScalar(1.0) / sum;
|
||||
p1 *= s;
|
||||
p2 *= s;
|
||||
}
|
||||
|
||||
|
||||
|
||||
int Solid3JohnsonSimplexSolver::numVertices() const
|
||||
{
|
||||
int numverts = 0;
|
||||
int i,bit;
|
||||
for (i = 0, bit = 0x1; i < 4; ++i, bit <<= 1)
|
||||
{
|
||||
if (contains(m_bits1, bit))
|
||||
{
|
||||
numverts++;
|
||||
}
|
||||
}
|
||||
return numverts;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
//////////////////////////////////////////////////////////////
|
||||
//////////////////////////////////////////////////////////////
|
||||
//////////////////////////////////////////////////////////////
|
||||
//internal
|
||||
|
||||
inline void Solid3JohnsonSimplexSolver::update_cache()
|
||||
{
|
||||
int i;
|
||||
T_Bits bit;
|
||||
for (i = 0, bit = 0x1; i < 4; ++i, bit <<= 1)
|
||||
{
|
||||
if (contains(m_bits1, bit))
|
||||
{
|
||||
m_edge[i][m_last] = m_y[i] - m_y[m_last];
|
||||
m_edge[m_last][i] = -m_edge[i][m_last];
|
||||
|
||||
#ifdef JOHNSON_ROBUST
|
||||
m_norm[i][m_last] = m_norm[m_last][i] = m_edge[i][m_last].length2();
|
||||
#endif
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
bool Solid3JohnsonSimplexSolver::valid(T_Bits s)
|
||||
{
|
||||
int i;
|
||||
T_Bits bit;
|
||||
for (i = 0, bit = 0x1; i < 4; ++i, bit <<= 1)
|
||||
{
|
||||
if (contains(m_all_bits, bit))
|
||||
{
|
||||
if (contains(s, bit))
|
||||
{
|
||||
if (m_det[s][i] <= btScalar(0.0))
|
||||
{
|
||||
return false;
|
||||
}
|
||||
}
|
||||
else if (m_det[s | bit][i] > btScalar(0.0))
|
||||
{
|
||||
return false;
|
||||
}
|
||||
}
|
||||
}
|
||||
return true;
|
||||
}
|
||||
|
||||
bool Solid3JohnsonSimplexSolver::proper(T_Bits s)
|
||||
{
|
||||
int i;
|
||||
T_Bits bit;
|
||||
for (i = 0, bit = 0x1; i < 4; ++i, bit <<= 1)
|
||||
{
|
||||
if (contains(s, bit) && m_det[s][i] <= btScalar(0.0))
|
||||
{
|
||||
return false;
|
||||
}
|
||||
}
|
||||
return true;
|
||||
}
|
||||
|
||||
void Solid3JohnsonSimplexSolver::compute_vector(T_Bits s, btVector3& v)
|
||||
{
|
||||
m_maxlen2 = btScalar(0.0);
|
||||
btScalar sum = btScalar(0.0);
|
||||
v .setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
|
||||
|
||||
int i;
|
||||
T_Bits bit;
|
||||
for (i = 0, bit = 0x1; i < 4; ++i, bit <<= 1)
|
||||
{
|
||||
if (contains(s, bit))
|
||||
{
|
||||
sum += m_det[s][i];
|
||||
GEN_set_max(m_maxlen2, m_ylen2[i]);
|
||||
v += m_y[i] * m_det[s][i];
|
||||
}
|
||||
}
|
||||
|
||||
assert(sum > btScalar(0.0));
|
||||
|
||||
v /= sum;
|
||||
}
|
||||
|
||||
|
||||
|
||||
#ifdef JOHNSON_ROBUST
|
||||
|
||||
inline void Solid3JohnsonSimplexSolver::compute_det()
|
||||
{
|
||||
m_det[m_last_bit][m_last] = 1;
|
||||
|
||||
int i;
|
||||
T_Bits si;
|
||||
for (i = 0, si = 0x1; i < 4; ++i, si <<= 1)
|
||||
{
|
||||
if (contains(m_bits1, si))
|
||||
{
|
||||
T_Bits s2 = si | m_last_bit;
|
||||
m_det[s2][i] = m_edge[m_last][i].dot(m_y[m_last]);
|
||||
m_det[s2][m_last] = m_edge[i][m_last].dot(m_y[i]);
|
||||
|
||||
int j;
|
||||
T_Bits sj;
|
||||
for (j = 0, sj = 0x1; j < i; ++j, sj <<= 1)
|
||||
{
|
||||
if (contains(m_bits1, sj))
|
||||
{
|
||||
int k;
|
||||
T_Bits s3 = sj | s2;
|
||||
|
||||
k = m_norm[i][j] < m_norm[m_last][j] ? i : m_last;
|
||||
m_det[s3][j] = m_det[s2][i] * m_edge[k][j].dot(m_y[i]) +
|
||||
m_det[s2][m_last] * m_edge[k][j].dot(m_y[m_last]);
|
||||
k = m_norm[j][i] < m_norm[m_last][i] ? j : m_last;
|
||||
m_det[s3][i] = m_det[sj|m_last_bit][j] * m_edge[k][i].dot(m_y[j]) +
|
||||
m_det[sj|m_last_bit][m_last] * m_edge[k][i].dot(m_y[m_last]);
|
||||
k = m_norm[i][m_last] < m_norm[j][m_last] ? i : j;
|
||||
m_det[s3][m_last] = m_det[sj|si][j] * m_edge[k][m_last].dot(m_y[j]) +
|
||||
m_det[sj|si][i] * m_edge[k][m_last].dot(m_y[i]);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
if (m_all_bits == 0xf)
|
||||
{
|
||||
int k;
|
||||
|
||||
k = m_norm[1][0] < m_norm[2][0] ? (m_norm[1][0] < m_norm[3][0] ? 1 : 3) : (m_norm[2][0] < m_norm[3][0] ? 2 : 3);
|
||||
|
||||
m_det[0xf][0] = m_det[0xe][1] * m_edge[k][0].dot(m_y[1]) +
|
||||
m_det[0xe][2] * m_edge[k][0].dot(m_y[2]) +
|
||||
m_det[0xe][3] * m_edge[k][0].dot(m_y[3]);
|
||||
|
||||
k = m_norm[0][1] < m_norm[2][1] ? (m_norm[0][1] < m_norm[3][1] ? 0 : 3) : (m_norm[2][1] < m_norm[3][1] ? 2 : 3);
|
||||
|
||||
m_det[0xf][1] = m_det[0xd][0] * m_edge[k][1].dot(m_y[0]) +
|
||||
m_det[0xd][2] * m_edge[k][1].dot(m_y[2]) +
|
||||
m_det[0xd][3] * m_edge[k][1].dot(m_y[3]);
|
||||
|
||||
k = m_norm[0][2] < m_norm[1][2] ? (m_norm[0][2] < m_norm[3][2] ? 0 : 3) : (m_norm[1][2] < m_norm[3][2] ? 1 : 3);
|
||||
|
||||
m_det[0xf][2] = m_det[0xb][0] * m_edge[k][2].dot(m_y[0]) +
|
||||
m_det[0xb][1] * m_edge[k][2].dot(m_y[1]) +
|
||||
m_det[0xb][3] * m_edge[k][2].dot(m_y[3]);
|
||||
|
||||
k = m_norm[0][3] < m_norm[1][3] ? (m_norm[0][3] < m_norm[2][3] ? 0 : 2) : (m_norm[1][3] < m_norm[2][3] ? 1 : 2);
|
||||
|
||||
m_det[0xf][3] = m_det[0x7][0] * m_edge[k][3].dot(m_y[0]) +
|
||||
m_det[0x7][1] * m_edge[k][3].dot(m_y[1]) +
|
||||
m_det[0x7][2] * m_edge[k][3].dot(m_y[2]);
|
||||
}
|
||||
}
|
||||
|
||||
#else //JOHNSON_ROBUST
|
||||
|
||||
|
||||
inline void Solid3JohnsonSimplexSolver::compute_det()
|
||||
{
|
||||
m_det[m_last_bit][m_last] = 1;
|
||||
|
||||
int i;
|
||||
T_Bits si;
|
||||
for (i = 0, si = 0x1; i < 4; ++i, si <<= 1)
|
||||
{
|
||||
if (contains(m_bits1, si))
|
||||
{
|
||||
T_Bits s2 = si | m_last_bit;
|
||||
m_det[s2][i] = m_edge[m_last][i].dot(m_y[m_last]);
|
||||
m_det[s2][m_last] = m_edge[i][m_last].dot(m_y[i]);
|
||||
|
||||
int j;
|
||||
T_Bits sj;
|
||||
for (j = 0, sj = 0x1; j < i; ++j, sj <<= 1)
|
||||
{
|
||||
if (contains(m_bits1, sj))
|
||||
{
|
||||
T_Bits s3 = sj | s2;
|
||||
m_det[s3][j] = m_det[s2][i] * m_edge[i][j].dot(m_y[i]) +
|
||||
m_det[s2][m_last] * m_edge[i][j].dot(m_y[m_last]);
|
||||
m_det[s3][i] = m_det[sj|m_last_bit][j] * m_edge[j][i].dot(m_y[j]) +
|
||||
m_det[sj|m_last_bit][m_last] * m_edge[j][i].dot(m_y[m_last]);
|
||||
m_det[s3][m_last] = m_det[sj|si][j] * m_edge[j][m_last].dot(m_y[j]) +
|
||||
m_det[sj|si][i] * m_edge[j][m_last].dot(m_y[i]);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
if (m_all_bits == 0xf)
|
||||
{
|
||||
m_det[0xf][0] = m_det[0xe][1] * m_edge[1][0].dot(m_y[1]) +
|
||||
m_det[0xe][2] * m_edge[1][0].dot(m_y[2]) +
|
||||
m_det[0xe][3] * m_edge[1][0].dot(m_y[3]);
|
||||
m_det[0xf][1] = m_det[0xd][0] * m_edge[0][1].dot(m_y[0]) +
|
||||
m_det[0xd][2] * m_edge[0][1].dot(m_y[2]) +
|
||||
m_det[0xd][3] * m_edge[0][1].dot(m_y[3]);
|
||||
m_det[0xf][2] = m_det[0xb][0] * m_edge[0][2].dot(m_y[0]) +
|
||||
m_det[0xb][1] * m_edge[0][2].dot(m_y[1]) +
|
||||
m_det[0xb][3] * m_edge[0][2].dot(m_y[3]);
|
||||
m_det[0xf][3] = m_det[0x7][0] * m_edge[0][3].dot(m_y[0]) +
|
||||
m_det[0x7][1] * m_edge[0][3].dot(m_y[1]) +
|
||||
m_det[0x7][2] * m_edge[0][3].dot(m_y[2]);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
#endif //JOHNSON_ROBUST
|
||||
105
Extras/obsolete/ExtraSolid35/Solid3JohnsonSimplexSolver.h
Normal file
105
Extras/obsolete/ExtraSolid35/Solid3JohnsonSimplexSolver.h
Normal file
@@ -0,0 +1,105 @@
|
||||
/*
|
||||
* SOLID - Software Library for Interference Detection
|
||||
*
|
||||
* Copyright (C) 2001-2003 Dtecta. All rights reserved.
|
||||
*
|
||||
* This library may be distributed under the terms of the Q Public License
|
||||
* (QPL) as defined by Trolltech AS of Norway and appearing in the file
|
||||
* LICENSE.QPL included in the packaging of this file.
|
||||
*
|
||||
* This library may be distributed and/or modified under the terms of the
|
||||
* GNU bteral Public License (GPL) version 2 as published by the Free Software
|
||||
* Foundation and appearing in the file LICENSE.GPL included in the
|
||||
* packaging of this file.
|
||||
*
|
||||
* This library is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
|
||||
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
|
||||
*
|
||||
* Commercial use or any other use of this library not covered by either
|
||||
* the QPL or the GPL requires an additional license from Dtecta.
|
||||
* Please contact info@dtecta.com for enquiries about the terms of commercial
|
||||
* use of this library.
|
||||
*/
|
||||
|
||||
#ifndef SOLID3JOHNSON_SIMPLEX_SOLVER_H
|
||||
#define SOLID3JOHNSON_SIMPLEX_SOLVER_H
|
||||
|
||||
#include "BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h"
|
||||
|
||||
//#define JOHNSON_ROBUST
|
||||
|
||||
|
||||
/// Solid3JohnsonSimplexSolver contains Johnson subdistance algorithm from Solid 3.5 library
|
||||
class Solid3JohnsonSimplexSolver : public btSimplexSolverInterface
|
||||
{
|
||||
|
||||
private:
|
||||
typedef unsigned int T_Bits;
|
||||
inline static bool subseteq(T_Bits a, T_Bits b) { return (a & b) == a; }
|
||||
inline static bool contains(T_Bits a, T_Bits b) { return (a & b) != 0x0; }
|
||||
|
||||
void update_cache();
|
||||
void compute_det();
|
||||
bool valid(T_Bits s);
|
||||
bool proper(T_Bits s);
|
||||
void compute_vector(T_Bits s, btVector3& v);
|
||||
|
||||
|
||||
btScalar m_det[16][4]; // cached sub-determinants
|
||||
btVector3 m_edge[4][4];
|
||||
|
||||
#ifdef JOHNSON_ROBUST
|
||||
btScalar m_norm[4][4];
|
||||
#endif
|
||||
|
||||
btPoint3 m_p[4]; // support points of object A in local coordinates
|
||||
btPoint3 m_q[4]; // support points of object B in local coordinates
|
||||
btVector3 m_y[4]; // support points of A - B in world coordinates
|
||||
btScalar m_ylen2[4]; // Squared lengths support points y
|
||||
|
||||
btScalar m_maxlen2; // Maximum squared length to a vertex of the current
|
||||
// simplex
|
||||
T_Bits m_bits1; // identifies current simplex
|
||||
T_Bits m_last; // identifies last found support point
|
||||
T_Bits m_last_bit; // m_last_bit == 0x1 << last
|
||||
T_Bits m_all_bits; // m_all_bits == m_bits | m_last_bit
|
||||
|
||||
|
||||
|
||||
private:
|
||||
|
||||
|
||||
void addVertex(const btVector3& w);
|
||||
|
||||
public:
|
||||
Solid3JohnsonSimplexSolver();
|
||||
|
||||
virtual ~Solid3JohnsonSimplexSolver();
|
||||
|
||||
virtual void reset();
|
||||
|
||||
virtual void addVertex(const btVector3& w, const btPoint3& p, const btPoint3& q);
|
||||
|
||||
virtual bool closest(btVector3& v);
|
||||
|
||||
virtual btScalar maxVertex();
|
||||
|
||||
virtual bool fullSimplex() const;
|
||||
|
||||
virtual int getSimplex(btPoint3 *pBuf, btPoint3 *qBuf, btVector3 *yBuf) const;
|
||||
|
||||
virtual bool inSimplex(const btVector3& w);
|
||||
|
||||
virtual void backup_closest(btVector3& v) ;
|
||||
|
||||
virtual bool emptySimplex() const ;
|
||||
|
||||
virtual void compute_points(btPoint3& p1, btPoint3& p2) ;
|
||||
|
||||
virtual int numVertices() const ;
|
||||
|
||||
|
||||
};
|
||||
|
||||
|
||||
#endif //SOLID3JOHNSON_SIMPLEX_SOLVER_H
|
||||
Reference in New Issue
Block a user