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
2010-02-20 15:39:09 +00:00
parent 890fd49813
commit 6ef37ab722
79 changed files with 19 additions and 23549 deletions
--- a/Extras/obsolete/ExtraSolid35/Solid3JohnsonSimplexSolver.h
+++ b/Extras/obsolete/ExtraSolid35/Solid3JohnsonSimplexSolver.h
@@ -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