Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Added b3Printf, b3Warning and b3Error that can be re-routed to custom handlers.

Browse Source 
See in src/Bullet3Common/b3Logging.h for details
This commit is contained in:
erwin coumans
2013-06-03 13:10:27 -07:00
parent 70b4ead641
commit 76b0d7697a
21 changed files with 321 additions and 175 deletions
Download Patch File Download Diff File Expand all files Collapse all files

104
src/Bullet3Geometry/b3ConvexHullComputer.cpp
View File

@@ -451,7 +451,7 @@ class b3ConvexHullInternal
#ifdef DEBUG_CONVEX_HULL
void print()
{
printf("V%d (%d, %d, %d)", point.index, point.x, point.y, point.z);
b3Printf("V%d (%d, %d, %d)", point.index, point.x, point.y, point.z);
}
void printGraph();
@@ -537,7 +537,7 @@ class b3ConvexHullInternal
#ifdef DEBUG_CONVEX_HULL
void print()
{
printf("E%p : %d -> %d, n=%p p=%p (0 %d\t%d\t%d) -> (%d %d %d)", this, reverse->target->point.index, target->point.index, next, prev,
b3Printf("E%p : %d -> %d, n=%p p=%p (0 %d\t%d\t%d) -> (%d %d %d)", this, reverse->target->point.index, target->point.index, next, prev,
reverse->target->point.x, reverse->target->point.y, reverse->target->point.z, target->point.x, target->point.y, target->point.z);
}
#endif
@@ -1310,13 +1310,13 @@ void b3ConvexHullInternal::computeInternal(int start, int end, IntermediateHull&
IntermediateHull hull1;
computeInternal(split1, end, hull1);
#ifdef DEBUG_CONVEX_HULL
printf("\n\nMerge\n");
b3Printf("\n\nMerge\n");
result.print();
hull1.print();
#endif
merge(result, hull1);
#ifdef DEBUG_CONVEX_HULL
printf("\n Result\n");
b3Printf("\n Result\n");
result.print();
#endif
}
@@ -1324,28 +1324,28 @@ void b3ConvexHullInternal::computeInternal(int start, int end, IntermediateHull&
#ifdef DEBUG_CONVEX_HULL
void b3ConvexHullInternal::IntermediateHull::print()
{
printf(" Hull\n");
b3Printf(" Hull\n");
for (Vertex* v = minXy; v; )
{
printf(" ");
b3Printf(" ");
v->print();
if (v == maxXy)
{
printf(" maxXy");
b3Printf(" maxXy");
}
if (v == minYx)
{
printf(" minYx");
b3Printf(" minYx");
}
if (v == maxYx)
{
printf(" maxYx");
b3Printf(" maxYx");
}
if (v->next->prev != v)
{
printf(" Inconsistency");
b3Printf(" Inconsistency");
}
printf("\n");
b3Printf("\n");
v = v->next;
if (v == minXy)
{
@@ -1362,14 +1362,14 @@ void b3ConvexHullInternal::IntermediateHull::print()
void b3ConvexHullInternal::Vertex::printGraph()
{
print();
printf("\nEdges\n");
b3Printf("\nEdges\n");
Edge* e = edges;
if (e)
{
do
{
e->print();
printf("\n");
b3Printf("\n");
e = e->next;
} while (e != edges);
do
@@ -1417,7 +1417,7 @@ b3ConvexHullInternal::Edge* b3ConvexHullInternal::findMaxAngle(bool ccw, const V
Edge* minEdge = NULL;
#ifdef DEBUG_CONVEX_HULL
printf("find max edge for %d\n", start->point.index);
b3Printf("find max edge for %d\n", start->point.index);
#endif
Edge* e = start->edges;
if (e)
@@ -1429,7 +1429,7 @@ b3ConvexHullInternal::Edge* b3ConvexHullInternal::findMaxAngle(bool ccw, const V
Point32 t = *e->target - *start;
Rational64 cot(t.dot(sxrxs), t.dot(rxs));
#ifdef DEBUG_CONVEX_HULL
printf(" Angle is %f (%d) for ", (float) b3Atan(cot.toScalar()), (int) cot.isNaN());
b3Printf(" Angle is %f (%d) for ", (float) b3Atan(cot.toScalar()), (int) cot.isNaN());
e->print();
#endif
if (cot.isNaN())
@@ -1455,7 +1455,7 @@ b3ConvexHullInternal::Edge* b3ConvexHullInternal::findMaxAngle(bool ccw, const V
}
}
#ifdef DEBUG_CONVEX_HULL
printf("\n");
b3Printf("\n");
#endif
}
e = e->next;
@@ -1478,7 +1478,7 @@ void b3ConvexHullInternal::findEdgeForCoplanarFaces(Vertex* c0, Vertex* c1, Edge
b3Assert(!perp.isZero());
#ifdef DEBUG_CONVEX_HULL
printf(" Advancing %d %d (%p %p, %d %d)\n", c0->point.index, c1->point.index, start0, start1, start0 ? start0->target->point.index : -1, start1 ? start1->target->point.index : -1);
b3Printf(" Advancing %d %d (%p %p, %d %d)\n", c0->point.index, c1->point.index, start0, start1, start0 ? start0->target->point.index : -1, start1 ? start1->target->point.index : -1);
#endif
btInt64_t maxDot0 = et0.dot(perp);
@@ -1534,7 +1534,7 @@ void b3ConvexHullInternal::findEdgeForCoplanarFaces(Vertex* c0, Vertex* c1, Edge
}
#ifdef DEBUG_CONVEX_HULL
printf(" Starting at %d %d\n", et0.index, et1.index);
b3Printf(" Starting at %d %d\n", et0.index, et1.index);
#endif
btInt64_t dx = maxDot1 - maxDot0;
@@ -1643,7 +1643,7 @@ void b3ConvexHullInternal::findEdgeForCoplanarFaces(Vertex* c0, Vertex* c1, Edge
}
}
#ifdef DEBUG_CONVEX_HULL
printf(" Advanced edges to %d %d\n", et0.index, et1.index);
b3Printf(" Advanced edges to %d %d\n", et0.index, et1.index);
#endif
}
@@ -1753,7 +1753,7 @@ void b3ConvexHullInternal::merge(IntermediateHull& h0, IntermediateHull& h1)
Point64 sxrxs = s.cross(rxs);
#ifdef DEBUG_CONVEX_HULL
printf("\n Checking %d %d\n", c0->point.index, c1->point.index);
b3Printf("\n Checking %d %d\n", c0->point.index, c1->point.index);
#endif
Rational64 minCot0(0, 0);
Edge* min0 = findMaxAngle(false, c0, s, rxs, sxrxs, minCot0);
@@ -1774,7 +1774,7 @@ void b3ConvexHullInternal::merge(IntermediateHull& h0, IntermediateHull& h1)
{
int cmp = !min0 ? 1 : !min1 ? -1 : minCot0.compare(minCot1);
#ifdef DEBUG_CONVEX_HULL
printf(" -> Result %d\n", cmp);
b3Printf(" -> Result %d\n", cmp);
#endif
if (firstRun || ((cmp >= 0) ? !minCot1.isNegativeInfinity() : !minCot0.isNegativeInfinity()))
{
@@ -1807,7 +1807,7 @@ void b3ConvexHullInternal::merge(IntermediateHull& h0, IntermediateHull& h1)
Edge* e1 = min1;
#ifdef DEBUG_CONVEX_HULL
printf(" Found min edges to %d %d\n", e0 ? e0->target->point.index : -1, e1 ? e1->target->point.index : -1);
b3Printf(" Found min edges to %d %d\n", e0 ? e0->target->point.index : -1, e1 ? e1->target->point.index : -1);
#endif
if (cmp == 0)
@@ -2058,7 +2058,7 @@ void b3ConvexHullInternal::compute(const void* coords, bool doubleCoords, int st
computeInternal(0, count, hull);
vertexList = hull.minXy;
#ifdef DEBUG_CONVEX_HULL
printf("max. edges %d (3v = %d)", maxUsedEdgePairs, 3 * count);
b3Printf("max. edges %d (3v = %d)", maxUsedEdgePairs, 3 * count);
#endif
}
@@ -2228,7 +2228,7 @@ bool b3ConvexHullInternal::shiftFace(Face* face, b3Scalar amount, b3AlignedObjec
}
Point64 normal = face->getNormal();
#ifdef DEBUG_CONVEX_HULL
printf("\nShrinking face (%d %d %d) (%d %d %d) (%d %d %d) by (%d %d %d)\n",
b3Printf("\nShrinking face (%d %d %d) (%d %d %d) (%d %d %d) by (%d %d %d)\n",
face->origin.x, face->origin.y, face->origin.z, face->dir0.x, face->dir0.y, face->dir0.z, face->dir1.x, face->dir1.y, face->dir1.z, shift.x, shift.y, shift.z);
#endif
btInt64_t origDot = face->origin.dot(normal);
@@ -2244,9 +2244,9 @@ bool b3ConvexHullInternal::shiftFace(Face* face, b3Scalar amount, b3AlignedObjec
Edge* startEdge = face->nearbyVertex->edges;
#ifdef DEBUG_CONVEX_HULL
printf("Start edge is ");
b3Printf("Start edge is ");
startEdge->print();
printf(", normal is (%lld %lld %lld), shifted dot is %lld\n", normal.x, normal.y, normal.z, shiftedDot);
b3Printf(", normal is (%lld %lld %lld), shifted dot is %lld\n", normal.x, normal.y, normal.z, shiftedDot);
#endif
Rational128 optDot = face->nearbyVertex->dot(normal);
int cmp = optDot.compare(shiftedDot);
@@ -2264,9 +2264,9 @@ bool b3ConvexHullInternal::shiftFace(Face* face, b3Scalar amount, b3AlignedObjec
Rational128 dot = e->target->dot(normal);
b3Assert(dot.compare(origDot) <= 0);
#ifdef DEBUG_CONVEX_HULL
printf("Moving downwards, edge is ");
b3Printf("Moving downwards, edge is ");
e->print();
printf(", dot is %f (%f %lld)\n", (float) dot.toScalar(), (float) optDot.toScalar(), shiftedDot);
b3Printf(", dot is %f (%f %lld)\n", (float) dot.toScalar(), (float) optDot.toScalar(), shiftedDot);
#endif
if (dot.compare(optDot) < 0)
{
@@ -2300,9 +2300,9 @@ bool b3ConvexHullInternal::shiftFace(Face* face, b3Scalar amount, b3AlignedObjec
Rational128 dot = e->target->dot(normal);
b3Assert(dot.compare(origDot) <= 0);
#ifdef DEBUG_CONVEX_HULL
printf("Moving upwards, edge is ");
b3Printf("Moving upwards, edge is ");
e->print();
printf(", dot is %f (%f %lld)\n", (float) dot.toScalar(), (float) optDot.toScalar(), shiftedDot);
b3Printf(", dot is %f (%f %lld)\n", (float) dot.toScalar(), (float) optDot.toScalar(), shiftedDot);
#endif
if (dot.compare(optDot) > 0)
{
@@ -2326,7 +2326,7 @@ bool b3ConvexHullInternal::shiftFace(Face* face, b3Scalar amount, b3AlignedObjec
}
#ifdef SHOW_ITERATIONS
printf("Needed %d iterations to find initial intersection\n", n);
b3Printf("Needed %d iterations to find initial intersection\n", n);
#endif
if (cmp == 0)
@@ -2346,13 +2346,13 @@ bool b3ConvexHullInternal::shiftFace(Face* face, b3Scalar amount, b3AlignedObjec
return true;
}
#ifdef DEBUG_CONVEX_HULL
printf("Checking for outwards edge, current edge is ");
b3Printf("Checking for outwards edge, current edge is ");
e->print();
printf("\n");
b3Printf("\n");
#endif
}
#ifdef SHOW_ITERATIONS
printf("Needed %d iterations to check for complete containment\n", n);
b3Printf("Needed %d iterations to check for complete containment\n", n);
#endif
}
@@ -2369,9 +2369,9 @@ bool b3ConvexHullInternal::shiftFace(Face* face, b3Scalar amount, b3AlignedObjec
m++;
#endif
#ifdef DEBUG_CONVEX_HULL
printf("Intersecting edge is ");
b3Printf("Intersecting edge is ");
intersection->print();
printf("\n");
b3Printf("\n");
#endif
if (cmp == 0)
{
@@ -2397,14 +2397,14 @@ bool b3ConvexHullInternal::shiftFace(Face* face, b3Scalar amount, b3AlignedObjec
}
}
#ifdef SHOW_ITERATIONS
printf("Needed %d iterations to advance intersection\n", n);
b3Printf("Needed %d iterations to advance intersection\n", n);
#endif
}
#ifdef DEBUG_CONVEX_HULL
printf("Advanced intersecting edge to ");
b3Printf("Advanced intersecting edge to ");
intersection->print();
printf(", cmp = %d\n", cmp);
b3Printf(", cmp = %d\n", cmp);
#endif
if (!firstIntersection)
@@ -2433,9 +2433,9 @@ bool b3ConvexHullInternal::shiftFace(Face* face, b3Scalar amount, b3AlignedObjec
b3Assert(e != intersection->reverse);
cmp = e->target->dot(normal).compare(shiftedDot);
#ifdef DEBUG_CONVEX_HULL
printf("Testing edge ");
b3Printf("Testing edge ");
e->print();
printf(" -> cmp = %d\n", cmp);
b3Printf(" -> cmp = %d\n", cmp);
#endif
if (cmp >= 0)
{
@@ -2444,7 +2444,7 @@ bool b3ConvexHullInternal::shiftFace(Face* face, b3Scalar amount, b3AlignedObjec
}
}
#ifdef SHOW_ITERATIONS
printf("Needed %d iterations to find other intersection of face\n", n);
b3Printf("Needed %d iterations to find other intersection of face\n", n);
#endif
if (cmp > 0)
@@ -2462,7 +2462,7 @@ bool b3ConvexHullInternal::shiftFace(Face* face, b3Scalar amount, b3AlignedObjec
e->link(e);
}
#ifdef DEBUG_CONVEX_HULL
printf("1: Removed part contains (%d %d %d)\n", removed->point.x, removed->point.y, removed->point.z);
b3Printf("1: Removed part contains (%d %d %d)\n", removed->point.x, removed->point.y, removed->point.z);
#endif
Point64 n0 = intersection->face->getNormal();
@@ -2533,7 +2533,7 @@ bool b3ConvexHullInternal::shiftFace(Face* face, b3Scalar amount, b3AlignedObjec
removeEdgePair(faceEdge->next);
stack.push_back(removed);
#ifdef DEBUG_CONVEX_HULL
printf("2: Removed part contains (%d %d %d)\n", removed->point.x, removed->point.y, removed->point.z);
b3Printf("2: Removed part contains (%d %d %d)\n", removed->point.x, removed->point.y, removed->point.z);
#endif
}
stack.push_back(NULL);
@@ -2548,7 +2548,7 @@ bool b3ConvexHullInternal::shiftFace(Face* face, b3Scalar amount, b3AlignedObjec
}
}
#ifdef SHOW_ITERATIONS
printf("Needed %d iterations to process all intersections\n", m);
b3Printf("Needed %d iterations to process all intersections\n", m);
#endif
if (cmp > 0)
@@ -2566,7 +2566,7 @@ bool b3ConvexHullInternal::shiftFace(Face* face, b3Scalar amount, b3AlignedObjec
removeEdgePair(firstFaceEdge->next);
stack.push_back(removed);
#ifdef DEBUG_CONVEX_HULL
printf("3: Removed part contains (%d %d %d)\n", removed->point.x, removed->point.y, removed->point.z);
b3Printf("3: Removed part contains (%d %d %d)\n", removed->point.x, removed->point.y, removed->point.z);
#endif
}
stack.push_back(NULL);
@@ -2576,7 +2576,7 @@ bool b3ConvexHullInternal::shiftFace(Face* face, b3Scalar amount, b3AlignedObjec
vertexList = stack[0];
#ifdef DEBUG_CONVEX_HULL
printf("Removing part\n");
b3Printf("Removing part\n");
#endif
#ifdef SHOW_ITERATIONS
n = 0;
@@ -2617,7 +2617,7 @@ bool b3ConvexHullInternal::shiftFace(Face* face, b3Scalar amount, b3AlignedObjec
}
}
#ifdef SHOW_ITERATIONS
printf("Needed %d iterations to remove part\n", n);
b3Printf("Needed %d iterations to remove part\n", n);
#endif
stack.resize(0);
@@ -2636,7 +2636,7 @@ static int getVertexCopy(b3ConvexHullInternal::Vertex* vertex, b3AlignedObjectAr
vertex->copy = index;
vertices.push_back(vertex);
#ifdef DEBUG_CONVEX_HULL
printf("Vertex %d gets index *%d\n", vertex->point.index, index);
b3Printf("Vertex %d gets index *%d\n", vertex->point.index, index);
#endif
}
return index;
@@ -2697,7 +2697,7 @@ b3Scalar b3ConvexHullComputer::compute(const void* coords, bool doubleCoords, in
c->targetVertex = getVertexCopy(e->target, oldVertices);
r->targetVertex = copied;
#ifdef DEBUG_CONVEX_HULL
printf(" CREATE: Vertex *%d has edge to *%d\n", copied, c->getTargetVertex());
b3Printf(" CREATE: Vertex *%d has edge to *%d\n", copied, c->getTargetVertex());
#endif
}
if (prevCopy >= 0)
@@ -2728,14 +2728,14 @@ b3Scalar b3ConvexHullComputer::compute(const void* coords, bool doubleCoords, in
if (e->copy >= 0)
{
#ifdef DEBUG_CONVEX_HULL
printf("Vertex *%d has edge to *%d\n", i, edges[e->copy].getTargetVertex());
b3Printf("Vertex *%d has edge to *%d\n", i, edges[e->copy].getTargetVertex());
#endif
faces.push_back(e->copy);
b3ConvexHullInternal::Edge* f = e;
do
{
#ifdef DEBUG_CONVEX_HULL
printf(" Face *%d\n", edges[f->copy].getTargetVertex());
b3Printf(" Face *%d\n", edges[f->copy].getTargetVertex());
#endif
f->copy = -1;
f = f->reverse->prev;