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added some brute-force way to shrink convex polyhedra (to compensate collision margin)

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made Extra/EPA compile again, updated Pierre's testbed to compile out-of-the-box
This commit is contained in:
ejcoumans
2006-11-11 03:22:15 +00:00
parent 438230b95b
commit 8cbd721a1f
11 changed files with 143 additions and 145 deletions
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12
Extras/EPA/Epa.cpp
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@@ -29,13 +29,13 @@ subject to the following restrictions:
#include "BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h"
#include "NarrowPhaseCollision/EpaCommon.h"
#include "EpaCommon.h"
#include "NarrowPhaseCollision/EpaVertex.h"
#include "NarrowPhaseCollision/EpaHalfEdge.h"
#include "NarrowPhaseCollision/EpaFace.h"
#include "NarrowPhaseCollision/EpaPolyhedron.h"
#include "NarrowPhaseCollision/Epa.h"
#include "EpaVertex.h"
#include "EpaHalfEdge.h"
#include "EpaFace.h"
#include "EpaPolyhedron.h"
#include "Epa.h"
const btScalar EPA_MAX_RELATIVE_ERROR = 1e-2f;
const btScalar EPA_MAX_RELATIVE_ERROR_SQRD = EPA_MAX_RELATIVE_ERROR * EPA_MAX_RELATIVE_ERROR;

8
Extras/EPA/EpaFace.cpp
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@@ -18,11 +18,11 @@ subject to the following restrictions:
#include "LinearMath/btVector3.h"
#include "LinearMath/btPoint3.h"
#include "NarrowPhaseCollision/EpaCommon.h"
#include "EpaCommon.h"
#include "NarrowPhaseCollision/EpaVertex.h"
#include "NarrowPhaseCollision/EpaHalfEdge.h"
#include "NarrowPhaseCollision/EpaFace.h"
#include "EpaVertex.h"
#include "EpaHalfEdge.h"
#include "EpaFace.h"
#ifdef EPA_POLYHEDRON_USE_PLANES
btScalar PLANE_THICKNESS = 1e-5f;

14
Extras/EPA/EpaPenetrationDepthSolver.cpp
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@@ -26,15 +26,15 @@ subject to the following restrictions:
#include "BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h"
#include "NarrowPhaseCollision/EpaCommon.h"
#include "EpaCommon.h"
#include "NarrowPhaseCollision/EpaVertex.h"
#include "NarrowPhaseCollision/EpaHalfEdge.h"
#include "NarrowPhaseCollision/EpaFace.h"
#include "NarrowPhaseCollision/EpaPolyhedron.h"
#include "NarrowPhaseCollision/Epa.h"
#include "EpaVertex.h"
#include "EpaHalfEdge.h"
#include "EpaFace.h"
#include "EpaPolyhedron.h"
#include "Epa.h"
#include "BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h"
#include "NarrowPhaseCollision/EpaPenetrationDepthSolver.h"
#include "EpaPenetrationDepthSolver.h"
btScalar g_GJKMaxRelError = 1e-3f;
btScalar g_GJKMaxRelErrorSqrd = g_GJKMaxRelError * g_GJKMaxRelError;

12
Extras/EPA/EpaPolyhedron.cpp
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@@ -17,7 +17,7 @@ subject to the following restrictions:
#include "LinearMath/btScalar.h"
#include "LinearMath/btVector3.h"
#include "LinearMath/btPoint3.h"
#include "Memory2.h"
//#include "Memory2.h"
#include <list>
#ifdef _DEBUG
@@ -25,12 +25,12 @@ subject to the following restrictions:
#endif
#include "NarrowPhaseCollision/EpaCommon.h"
#include "EpaCommon.h"
#include "NarrowPhaseCollision/EpaVertex.h"
#include "NarrowPhaseCollision/EpaHalfEdge.h"
#include "NarrowPhaseCollision/EpaFace.h"
#include "NarrowPhaseCollision/EpaPolyhedron.h"
#include "EpaVertex.h"
#include "EpaHalfEdge.h"
#include "EpaFace.h"
#include "EpaPolyhedron.h"
EpaPolyhedron::EpaPolyhedron() : m_nbFaces( 0 )