Fix Issue 680, compilation error using Visual Studio 2005, service pack 1, quicksort compare function needs to be in a class.

Toggle between GJK and SAT (initializePolyhedralFeatures) in convexDecomposition at easch restart of the demo (spacebar)

Demos/ConvexDecompositionDemo/ConvexDecompositionDemo.cpp

@@ -28,7 +28,8 @@ subject to the following restrictions:
 #include "LinearMath/btIDebugDraw.h"
 #include "LinearMath/btGeometryUtil.h"
 #include "BulletCollision/CollisionShapes/btShapeHull.h"
-
+#include "GLDebugDrawer.h"
+GLDebugDrawer	gDebugDrawer;
 //#define TEST_SERIALIZATION
 //#define NO_OBJ_TO_BULLET
 
@@ -69,6 +70,8 @@ btVector3   convexDecompositionObjectOffset(10,0,0);
 
 unsigned int tcount = 0;
 
+//sEnableSAT creates the data structures required for performing SAT tests between convex polyhedra, as alternative to GJK
+bool sEnableSAT = false;
 
 void ConvexDecompositionDemo::initPhysics()
 {
@@ -153,11 +156,14 @@ m_collisionConfiguration = new btDefaultCollisionConfiguration();
 void ConvexDecompositionDemo::initPhysics(const char* filename)
 {
 
+	sEnableSAT = !sEnableSAT;
 
 	gContactAddedCallback = &MyContactCallback;
 
 	setupEmptyDynamicsWorld();
 
+	getDynamicsWorld()->setDebugDrawer(&gDebugDrawer);
+
 	setTexturing(true);
 	setShadows(true);
 
@@ -327,7 +333,8 @@ void ConvexDecompositionDemo::initPhysics(const char* filename)
 					
 					btConvexHullShape* convexShape = new btConvexHullShape(&(vertices[0].getX()),vertices.size());
 #endif 
-
+					if (sEnableSAT)
+						convexShape->initializePolyhedralFeatures();
 					convexShape->setMargin(0.01f);
 					m_convexShapes.push_back(convexShape);
 					m_convexCentroids.push_back(centroid);
@@ -395,6 +402,8 @@ void ConvexDecompositionDemo::initPhysics(const char* filename)
 			convexShape->addPoint(hull->getVertexPointer()[i]);	
 		}
 
+		if (sEnableSAT)
+			convexShape->initializePolyhedralFeatures();
 		delete tmpConvexShape;
 		delete hull;
 
@@ -737,5 +746,8 @@ void	ConvexDecompositionDemo::exitPhysics()
 }
 
 
-
-
+void	ConvexDecompositionDemo::clientResetScene()
+{
+	exitPhysics();
+	initPhysics("file.obj");
+}

Demos/ConvexDecompositionDemo/ConvexDecompositionDemo.h

@@ -64,6 +64,8 @@ public:
 
 	void	exitPhysics();
 
+	virtual void	clientResetScene();
+
 	virtual	~ConvexDecompositionDemo()
 	{
 		exitPhysics();

Demos/ConvexDecompositionDemo/main.cpp

@@ -6,7 +6,6 @@
 #include "btBulletDynamicsCommon.h"
 
 
-GLDebugDrawer	gDebugDrawer;
 
 int main(int argc,char** argv)
 {
@@ -17,13 +16,9 @@ int main(int argc,char** argv)
 
         convexDecompDemo->initPhysics(filename);
 
-		convexDecompDemo->getDynamicsWorld()->setDebugDrawer(&gDebugDrawer);
+		
 
 
-        convexDecompDemo->clientResetScene();
-
-       
-
         glutmain(argc, argv,640,480,"Bullet Physics Demo. http://www.continuousphysics.com/Bullet/phpBB2/",convexDecompDemo);
 
 	delete convexDecompDemo;

src/LinearMath/btConvexHullComputer.cpp

@@ -1931,11 +1931,15 @@ void btConvexHullInternal::merge(IntermediateHull& h0, IntermediateHull& h1)
 	}
 }
 
-
-static bool pointCmp(const btConvexHullInternal::Point32& p, const btConvexHullInternal::Point32& q)
+class pointCmp
 {
-	return (p.y < q.y) || ((p.y == q.y) && ((p.x < q.x) || ((p.x == q.x) && (p.z < q.z))));
-}
+	public:
+
+    bool operator() ( const btConvexHullInternal::Point32& p, const btConvexHullInternal::Point32& q ) const
+		{
+			return (p.y < q.y) || ((p.y == q.y) && ((p.x < q.x) || ((p.x == q.x) && (p.z < q.z))));
+		}
+};
 
 void btConvexHullInternal::compute(const void* coords, bool doubleCoords, int stride, int count)
 {
@@ -2026,7 +2030,7 @@ void btConvexHullInternal::compute(const void* coords, bool doubleCoords, int st
 			points[i].index = i;
 		}
 	}
-	points.quickSort(pointCmp);
+	points.quickSort(pointCmp());
 
 	vertexPool.reset();
 	vertexPool.setArraySize(count);