minor tweaks to demos: enable constraint debug drawing in AllBulletDemos, default constraint debugging size set to 0.3,
set svn:eol-style native for folder files http://code.google.com/p/bullet/issues/detail?id=191
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erwin.coumans
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@@ -1,71 +1,71 @@
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2008 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the
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use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it
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freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not
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claim that you wrote the original software. If you use this software in a
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product, an acknowledgment in the product documentation would be appreciated
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but is not required.
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2. Altered source versions must be plainly marked as such, and must not be
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misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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/*
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GJK-EPA collision solver by Nathanael Presson, 2008
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*/
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#ifndef _68DA1F85_90B7_4bb0_A705_83B4040A75C6_
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#define _68DA1F85_90B7_4bb0_A705_83B4040A75C6_
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#include "BulletCollision/CollisionShapes/btConvexShape.h"
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///btGjkEpaSolver contributed under zlib by Nathanael Presson
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struct btGjkEpaSolver2
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{
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struct sResults
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{
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enum eStatus
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{
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Separated, /* Shapes doesnt penetrate */
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Penetrating, /* Shapes are penetrating */
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GJK_Failed, /* GJK phase fail, no big issue, shapes are probably just 'touching' */
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EPA_Failed /* EPA phase fail, bigger problem, need to save parameters, and debug */
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} status;
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btVector3 witnesses[2];
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btVector3 normal;
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btScalar distance;
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};
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static int StackSizeRequirement();
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static bool Distance( const btConvexShape* shape0,const btTransform& wtrs0,
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const btConvexShape* shape1,const btTransform& wtrs1,
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const btVector3& guess,
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sResults& results);
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static bool Penetration(const btConvexShape* shape0,const btTransform& wtrs0,
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const btConvexShape* shape1,const btTransform& wtrs1,
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const btVector3& guess,
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sResults& results,
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bool usemargins=true);
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static btScalar SignedDistance( const btVector3& position,
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btScalar margin,
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const btConvexShape* shape,
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const btTransform& wtrs,
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sResults& results);
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static bool SignedDistance( const btConvexShape* shape0,const btTransform& wtrs0,
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const btConvexShape* shape1,const btTransform& wtrs1,
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const btVector3& guess,
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sResults& results);
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};
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#endif
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2008 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the
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use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it
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freely,
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subject to the following restrictions:
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||||
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1. The origin of this software must not be misrepresented; you must not
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claim that you wrote the original software. If you use this software in a
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||||
product, an acknowledgment in the product documentation would be appreciated
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||||
but is not required.
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2. Altered source versions must be plainly marked as such, and must not be
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misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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/*
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GJK-EPA collision solver by Nathanael Presson, 2008
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*/
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#ifndef _68DA1F85_90B7_4bb0_A705_83B4040A75C6_
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#define _68DA1F85_90B7_4bb0_A705_83B4040A75C6_
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#include "BulletCollision/CollisionShapes/btConvexShape.h"
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///btGjkEpaSolver contributed under zlib by Nathanael Presson
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struct btGjkEpaSolver2
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{
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struct sResults
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{
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enum eStatus
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{
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Separated, /* Shapes doesnt penetrate */
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Penetrating, /* Shapes are penetrating */
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GJK_Failed, /* GJK phase fail, no big issue, shapes are probably just 'touching' */
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EPA_Failed /* EPA phase fail, bigger problem, need to save parameters, and debug */
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} status;
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btVector3 witnesses[2];
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btVector3 normal;
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btScalar distance;
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};
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static int StackSizeRequirement();
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static bool Distance( const btConvexShape* shape0,const btTransform& wtrs0,
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const btConvexShape* shape1,const btTransform& wtrs1,
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const btVector3& guess,
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sResults& results);
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static bool Penetration(const btConvexShape* shape0,const btTransform& wtrs0,
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const btConvexShape* shape1,const btTransform& wtrs1,
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const btVector3& guess,
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sResults& results,
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bool usemargins=true);
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static btScalar SignedDistance( const btVector3& position,
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btScalar margin,
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const btConvexShape* shape,
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const btTransform& wtrs,
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sResults& results);
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static bool SignedDistance( const btConvexShape* shape0,const btTransform& wtrs0,
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const btConvexShape* shape1,const btTransform& wtrs1,
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const btVector3& guess,
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sResults& results);
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};
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#endif
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@@ -1,54 +1,54 @@
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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EPA Copyright (c) Ricardo Padrela 2006
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#include "BulletCollision/CollisionShapes/btConvexShape.h"
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#include "btGjkEpaPenetrationDepthSolver.h"
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#include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h"
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bool btGjkEpaPenetrationDepthSolver::calcPenDepth( btSimplexSolverInterface& simplexSolver,
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const btConvexShape* pConvexA, const btConvexShape* pConvexB,
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const btTransform& transformA, const btTransform& transformB,
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btVector3& v, btVector3& wWitnessOnA, btVector3& wWitnessOnB,
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class btIDebugDraw* debugDraw, btStackAlloc* stackAlloc )
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{
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(void)debugDraw;
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(void)v;
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(void)simplexSolver;
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const btScalar radialmargin(btScalar(0.));
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btVector3 guessVector(transformA.getOrigin()-transformB.getOrigin());
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btGjkEpaSolver2::sResults results;
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if(btGjkEpaSolver2::Penetration(pConvexA,transformA,
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pConvexB,transformB,
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guessVector,results))
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{
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// debugDraw->drawLine(results.witnesses[1],results.witnesses[1]+results.normal,btVector3(255,0,0));
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//resultOut->addContactPoint(results.normal,results.witnesses[1],-results.depth);
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wWitnessOnA = results.witnesses[0];
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wWitnessOnB = results.witnesses[1];
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return true;
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}
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return false;
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}
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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EPA Copyright (c) Ricardo Padrela 2006
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#include "BulletCollision/CollisionShapes/btConvexShape.h"
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#include "btGjkEpaPenetrationDepthSolver.h"
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#include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h"
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bool btGjkEpaPenetrationDepthSolver::calcPenDepth( btSimplexSolverInterface& simplexSolver,
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const btConvexShape* pConvexA, const btConvexShape* pConvexB,
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const btTransform& transformA, const btTransform& transformB,
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btVector3& v, btVector3& wWitnessOnA, btVector3& wWitnessOnB,
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class btIDebugDraw* debugDraw, btStackAlloc* stackAlloc )
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{
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(void)debugDraw;
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(void)v;
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(void)simplexSolver;
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const btScalar radialmargin(btScalar(0.));
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btVector3 guessVector(transformA.getOrigin()-transformB.getOrigin());
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btGjkEpaSolver2::sResults results;
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if(btGjkEpaSolver2::Penetration(pConvexA,transformA,
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pConvexB,transformB,
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guessVector,results))
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{
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// debugDraw->drawLine(results.witnesses[1],results.witnesses[1]+results.normal,btVector3(255,0,0));
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//resultOut->addContactPoint(results.normal,results.witnesses[1],-results.depth);
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wWitnessOnA = results.witnesses[0];
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wWitnessOnB = results.witnesses[1];
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return true;
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}
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return false;
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}
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