diff --git a/Demos/premake4.lua b/Demos/premake4.lua index c488759b7..89ad341de 100644 --- a/Demos/premake4.lua +++ b/Demos/premake4.lua @@ -18,16 +18,17 @@ function createDemos( demos, incdirs, linknames) configuration { "Windows" } defines { "GLEW_STATIC"} - links { "opengl32" } - includedirs{ "../Glut" } - libdirs {"../Glut"} - files { "../build/bullet.rc" } + links { "opengl32","glu32","winmm"} + includedirs{ "Glut" } + libdirs {"Glut"} + files { "../build3/bullet.rc" } configuration {"Windows", "x32"} links {"glew32s","glut32"} configuration {"Windows", "x64"} links {"glew64s", "glut64"} - + + configuration {"MacOSX"} --print "hello" linkoptions { "-framework Carbon -framework OpenGL -framework AGL -framework Glut" } diff --git a/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp b/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp index 887757949..4c8ff2fab 100644 --- a/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp +++ b/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp @@ -26,7 +26,6 @@ subject to the following restrictions: #ifdef __SPU__ #include #define printf spu_printf -//#define DEBUG_SPU_COLLISION_DETECTION 1 #endif //__SPU__ #endif @@ -81,17 +80,18 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result& #ifdef __SPU__ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw) #else -void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw) +void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput& input, Result& output, class btIDebugDraw* debugDraw) #endif { m_cachedSeparatingDistance = 0.f; btScalar distance=btScalar(0.); btVector3 normalInB(btScalar(0.),btScalar(0.),btScalar(0.)); + btVector3 pointOnA,pointOnB; btTransform localTransA = input.m_transformA; btTransform localTransB = input.m_transformB; - btVector3 positionOffset = (localTransA.getOrigin() + localTransB.getOrigin()) * btScalar(0.5); + btVector3 positionOffset=(localTransA.getOrigin() + localTransB.getOrigin()) * btScalar(0.5); localTransA.getOrigin() -= positionOffset; localTransB.getOrigin() -= positionOffset; @@ -102,17 +102,11 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput& inpu gNumGjkChecks++; -#ifdef DEBUG_SPU_COLLISION_DETECTION - spu_printf("inside gjk\n"); -#endif //for CCD we don't use margins if (m_ignoreMargin) { marginA = btScalar(0.); marginB = btScalar(0.); -#ifdef DEBUG_SPU_COLLISION_DETECTION - spu_printf("ignoring margin\n"); -#endif } m_curIter = 0; @@ -143,37 +137,13 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput& inpu btVector3 seperatingAxisInA = (-m_cachedSeparatingAxis)* input.m_transformA.getBasis(); btVector3 seperatingAxisInB = m_cachedSeparatingAxis* input.m_transformB.getBasis(); -#if 1 btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA); btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB); -// btVector3 pInA = localGetSupportingVertexWithoutMargin(m_shapeTypeA, m_minkowskiA, seperatingAxisInA,input.m_convexVertexData[0]);//, &featureIndexA); -// btVector3 qInB = localGetSupportingVertexWithoutMargin(m_shapeTypeB, m_minkowskiB, seperatingAxisInB,input.m_convexVertexData[1]);//, &featureIndexB); - -#else -#ifdef __SPU__ - btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA); - btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB); -#else - btVector3 pInA = m_minkowskiA->localGetSupportingVertexWithoutMargin(seperatingAxisInA); - btVector3 qInB = m_minkowskiB->localGetSupportingVertexWithoutMargin(seperatingAxisInB); -#ifdef TEST_NON_VIRTUAL - btVector3 pInAv = m_minkowskiA->localGetSupportingVertexWithoutMargin(seperatingAxisInA); - btVector3 qInBv = m_minkowskiB->localGetSupportingVertexWithoutMargin(seperatingAxisInB); - btAssert((pInAv-pInA).length() < 0.0001); - btAssert((qInBv-qInB).length() < 0.0001); -#endif // -#endif //__SPU__ -#endif - - btVector3 pWorld = localTransA(pInA); btVector3 qWorld = localTransB(qInB); -#ifdef DEBUG_SPU_COLLISION_DETECTION - spu_printf("got local supporting vertices\n"); -#endif if (check2d) { @@ -217,14 +187,8 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput& inpu break; } -#ifdef DEBUG_SPU_COLLISION_DETECTION - spu_printf("addVertex 1\n"); -#endif //add current vertex to simplex m_simplexSolver->addVertex(w, pWorld, qWorld); -#ifdef DEBUG_SPU_COLLISION_DETECTION - spu_printf("addVertex 2\n"); -#endif btVector3 newCachedSeparatingAxis; //calculate the closest point to the origin (update vector v) @@ -274,7 +238,7 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput& inpu //degeneracy, this is typically due to invalid/uninitialized worldtransforms for a btCollisionObject if (m_curIter++ > gGjkMaxIter) { - #if defined(DEBUG) || defined (_DEBUG) || defined (DEBUG_SPU_COLLISION_DETECTION) + #if defined(DEBUG) || defined (_DEBUG) printf("btGjkPairDetector maxIter exceeded:%i\n",m_curIter); printf("sepAxis=(%f,%f,%f), squaredDistance = %f, shapeTypeA=%i,shapeTypeB=%i\n", @@ -307,6 +271,7 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput& inpu { m_simplexSolver->compute_points(pointOnA, pointOnB); normalInB = m_cachedSeparatingAxis; + btScalar lenSqr =m_cachedSeparatingAxis.length2(); //valid normal @@ -318,6 +283,7 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput& inpu { btScalar rlen = btScalar(1.) / btSqrt(lenSqr ); normalInB *= rlen; //normalize + btScalar s = btSqrt(squaredDistance); btAssert(s > btScalar(0.0)); @@ -380,6 +346,7 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput& inpu pointOnA = tmpPointOnA; pointOnB = tmpPointOnB; normalInB = tmpNormalInB; + isValid = true; m_lastUsedMethod = 3; } else @@ -413,6 +380,7 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput& inpu pointOnB += m_cachedSeparatingAxis * marginB ; normalInB = m_cachedSeparatingAxis; normalInB.normalize(); + isValid = true; m_lastUsedMethod = 6; } else @@ -431,36 +399,7 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput& inpu if (isValid && ((distance < 0) || (distance*distance < input.m_maximumDistanceSquared))) { -#if 0 -///some debugging -// if (check2d) - { - printf("n = %2.3f,%2.3f,%2.3f. ",normalInB[0],normalInB[1],normalInB[2]); - printf("distance = %2.3f exit=%d deg=%d\n",distance,m_lastUsedMethod,m_degenerateSimplex); - } -#endif - if (m_fixContactNormalDirection) - { - ///@workaround for sticky convex collisions - //in some degenerate cases (usually when the use uses very small margins) - //the contact normal is pointing the wrong direction - //so fix it now (until we can deal with all degenerate cases in GJK and EPA) - //contact normals need to point from B to A in all cases, so we can simply check if the contact normal really points from B to A - //We like to use a dot product of the normal against the difference of the centroids, - //once the centroid is available in the API - //until then we use the center of the aabb to approximate the centroid - btVector3 aabbMin,aabbMax; - m_minkowskiA->getAabb(localTransA,aabbMin,aabbMax); - btVector3 posA = (aabbMax+aabbMin)*btScalar(0.5); - - m_minkowskiB->getAabb(localTransB,aabbMin,aabbMax); - btVector3 posB = (aabbMin+aabbMax)*btScalar(0.5); - - btVector3 diff = posA-posB; - if (diff.dot(normalInB) < 0.f) - normalInB *= -1.f; - } m_cachedSeparatingAxis = normalInB; m_cachedSeparatingDistance = distance;