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
227
Extras/obsolete/ExtraSolid35/CombinedSimplexSolver.cpp
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227
Extras/obsolete/ExtraSolid35/CombinedSimplexSolver.cpp
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/*
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* Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
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*
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* Permission to use, copy, modify, distribute and sell this software
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* and its documentation for any purpose is hereby granted without fee,
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* provided that the above copyright notice appear in all copies.
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* Erwin Coumans makes no representations about the suitability
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* of this software for any purpose.
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* It is provided "as is" without express or implied warranty.
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*/
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#include "CombinedSimplexSolver.h"
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#include <stdio.h>
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//switch off asserts
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//#define MY_ASSERT assert
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#define MY_ASSERT
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bool useVoronoi = true;
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CombinedSimplexSolver::CombinedSimplexSolver()
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:m_useVoronoiSolver(useVoronoi)
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{
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}
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void CombinedSimplexSolver::reset()
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{
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m_voronoiSolver.reset();
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m_johnsonSolver.reset();
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}
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void CombinedSimplexSolver::addVertex(const btVector3& w, const btPoint3& p, const btPoint3& q)
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{
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printf("addVertex (%f %f %f)\n",w[0],w[1],w[2]);
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m_voronoiSolver.addVertex(w,p,q);
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m_johnsonSolver.addVertex(w,p,q);
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int i;
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i=0;
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btPoint3 vp1,vp2;
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btPoint3 jp1,jp2;
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/*
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bool isClosest0 = m_voronoiSolver.closest(vp1);
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bool isClosest1 = m_johnsonSolver.closest(vp1);
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m_voronoiSolver.compute_points(vp1, vp2);
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m_johnsonSolver.compute_points(jp1,jp2);
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i=0;
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*/
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}
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bool CombinedSimplexSolver::closest(btVector3& v)
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{
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bool result0 = 0;
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bool result1 = 0;
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btVector3 v0,v1;
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result0 = m_voronoiSolver.closest(v0);
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result1 = m_johnsonSolver.closest(v1);
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if (result0 != result1)
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{
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result0 = m_voronoiSolver.closest(v0);
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result1 = m_johnsonSolver.closest(v1);
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int i;
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i=0;
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}
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if (m_useVoronoiSolver)
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{
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v = v0;
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return result0;
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}
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v = v1;
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return result1;
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}
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btScalar CombinedSimplexSolver::maxVertex()
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{
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btScalar maxv0 = m_voronoiSolver.maxVertex();
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btScalar maxv1 = m_johnsonSolver.maxVertex();
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MY_ASSERT(maxv0 = maxv1);
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if (m_useVoronoiSolver)
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return maxv0;
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return maxv1;
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}
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bool CombinedSimplexSolver::fullSimplex() const
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{
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bool fullSimplex0 = m_voronoiSolver.fullSimplex();
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bool fullSimplex1 = m_johnsonSolver.fullSimplex();
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MY_ASSERT(fullSimplex0 == fullSimplex1);
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if (m_useVoronoiSolver)
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return fullSimplex0;
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return fullSimplex1;
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}
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int CombinedSimplexSolver::getSimplex(btPoint3 *pBuf, btPoint3 *qBuf, btVector3 *yBuf) const
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{
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int simplex0 = m_voronoiSolver.getSimplex(pBuf, qBuf, yBuf);
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int simplex1 = m_johnsonSolver.getSimplex(pBuf, qBuf, yBuf);
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// MY_ASSERT(simplex0 == simplex1);
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if (m_useVoronoiSolver)
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{
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return m_voronoiSolver.getSimplex(pBuf, qBuf, yBuf);
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}
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return simplex1;
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}
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void CombinedSimplexSolver::debugPrint()
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{
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btPoint3 pBuf0[4];
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btPoint3 qBuf0[4];
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btPoint3 yBuf0[4];
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btPoint3 pBuf1[4];
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btPoint3 qBuf1[4];
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btPoint3 yBuf1[4];
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int verts0,verts1;
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verts0 = m_voronoiSolver.getSimplex(&pBuf0[0], &qBuf0[0], &yBuf0[0]);
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verts1 = m_johnsonSolver.getSimplex(&pBuf1[0], &qBuf1[0], &yBuf1[0]);
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printf("numverts0 = %d, numverts1 = %d\n",verts0,verts1);
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for (int i=0;i<verts0;i++)
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{
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printf("vert0 pBuf %d = %f , %f , %f\n",i,pBuf0[i].x(),pBuf0[i].y(),pBuf0[i].z());
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printf("vert0 qBuf %d = %f , %f , %f\n",i,qBuf0[i].x(),qBuf0[i].y(),qBuf0[i].z());
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printf("vert0 yBuf %d = %f , %f , %f\n",i,yBuf0[i].x(),yBuf0[i].y(),yBuf0[i].z());
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}
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for (int i=0;i<verts1;i++)
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{
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printf("vert1 pBuf %d = %f , %f , %f\n",i,pBuf1[i].x(),pBuf1[i].y(),pBuf1[i].z());
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printf("vert1 qBuf %d = %f , %f , %f\n",i,qBuf1[i].x(),qBuf1[i].y(),qBuf1[i].z());
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printf("vert1 yBuf %d = %f , %f , %f\n",i,yBuf1[i].x(),yBuf1[i].y(),yBuf1[i].z());
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}
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}
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bool CombinedSimplexSolver::inSimplex(const btVector3& w)
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{
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bool insimplex0 = m_voronoiSolver.inSimplex(w);
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bool insimplex1 = m_johnsonSolver.inSimplex(w);
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if (insimplex0 != insimplex1)
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{
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debugPrint();
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}
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if (m_useVoronoiSolver)
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return insimplex0;
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return insimplex1;
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}
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void CombinedSimplexSolver::backup_closest(btVector3& v)
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{
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btVector3 v0,v1;
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m_voronoiSolver.backup_closest(v0);
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m_johnsonSolver.backup_closest(v1);
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if (m_useVoronoiSolver)
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{
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v = v0;
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} else
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{
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v = v1;
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}
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}
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bool CombinedSimplexSolver::emptySimplex() const
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{
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bool empty0 = m_voronoiSolver.emptySimplex();
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bool empty1 = m_johnsonSolver.emptySimplex();
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MY_ASSERT(empty0 == empty1);
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if (m_useVoronoiSolver)
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return empty0;
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return empty1;
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}
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void CombinedSimplexSolver::compute_points(btPoint3& p1, btPoint3& p2)
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{
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btPoint3 tmpP1,tmpP2;
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btPoint3 tmpJP1,tmpJP2;
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m_voronoiSolver.compute_points(tmpP1,tmpP2);
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m_johnsonSolver.compute_points(tmpJP1,tmpJP2);
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if (m_useVoronoiSolver)
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{
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p1 = tmpP1;
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p2 = tmpP2;
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}
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else
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{
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p1 = tmpJP1;
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p2 = tmpJP2;
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}
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}
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int CombinedSimplexSolver::numVertices() const
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{
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int numverts0 = m_voronoiSolver.numVertices();
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int numverts1 = m_johnsonSolver.numVertices();
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MY_ASSERT(numverts0==numverts1);
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if (numverts0 != numverts1)
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{
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printf("--------- (numverts0 != numverts1) -----------------------\n");
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}
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printf("numverts0 = %d, numverts1 %d \n",numverts0,numverts1);
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if (m_useVoronoiSolver)
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return numverts0;
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return numverts1;
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}
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