Demos/ConvexHullDistance/ConvexHullDistanceDemo.cpp to compile again
Allow to use convexProcessingThreshold as maximum distance for convex-convex computation (useful for closest distance/point computation)
This commit is contained in:
erwin.coumans
82
Demos/ConvexHullDistance/CMakeLists.txt
Normal file
82
Demos/ConvexHullDistance/CMakeLists.txt
Normal file
@@ -0,0 +1,82 @@
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# This is basically the overall name of the project in Visual Studio this is the name of the Solution File
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# For every executable you have with a main method you should have an add_executable line below.
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# For every add executable line you should list every .cpp and .h file you have associated with that executable.
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# This is the variable for Windows. I use this to define the root of my directory structure.
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SET(GLUT_ROOT ${BULLET_PHYSICS_SOURCE_DIR}/Glut)
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# You shouldn't have to modify anything below this line
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########################################################
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INCLUDE_DIRECTORIES(
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${BULLET_PHYSICS_SOURCE_DIR}/src ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL
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)
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IF (USE_GLUT)
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LINK_LIBRARIES(
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OpenGLSupport BulletDynamics BulletCollision LinearMath ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
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)
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IF (WIN32)
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ADD_EXECUTABLE(AppConvexHullDistanceDemo
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ConvexHullDistanceDemo.cpp
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${BULLET_PHYSICS_SOURCE_DIR}/msvc/bullet.rc
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)
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ELSE()
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ADD_EXECUTABLE(AppConvexHullDistanceDemo
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ConvexHullDistanceDemo.cpp
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)
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ENDIF()
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IF (WIN32)
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IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
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IF (CMAKE_CL_64)
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ADD_CUSTOM_COMMAND(
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TARGET AppConvexHullDistanceDemo
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POST_BUILD
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COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/glut64.dll ${CMAKE_CURRENT_BINARY_DIR}
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)
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ELSE(CMAKE_CL_64)
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ADD_CUSTOM_COMMAND(
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TARGET AppConvexHullDistanceDemo
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POST_BUILD
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# COMMAND copy /Y ${BULLET_PHYSICS_SOURCE_DIR}/GLUT32.DLL ${CMAKE_CURRENT_BINARY_DIR}
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COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/GLUT32.DLL ${CMAKE_CURRENT_BINARY_DIR}
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)
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ENDIF(CMAKE_CL_64)
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ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
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ENDIF(WIN32)
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ELSE (USE_GLUT)
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LINK_LIBRARIES(
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OpenGLSupport BulletDynamics BulletCollision LinearMath ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
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)
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ADD_EXECUTABLE(AppConvexHullDistanceDemo
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WIN32
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../OpenGL/Win32AppMain.cpp
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ConvexHullDistanceDemo.cpp
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${BULLET_PHYSICS_SOURCE_DIR}/msvc/bullet.rc
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)
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ENDIF (USE_GLUT)
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IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
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SET_TARGET_PROPERTIES(AppConvexHullDistanceDemo PROPERTIES DEBUG_POSTFIX "_Debug")
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SET_TARGET_PROPERTIES(AppConvexHullDistanceDemo PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
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SET_TARGET_PROPERTIES(AppConvexHullDistanceDemo PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
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ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
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@@ -24,12 +24,20 @@ subject to the following restrictions:
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#include "LinearMath/btTransform.h"
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#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
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#include "BulletCollision/CollisionShapes/btConvexHullShape.h"
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#include "BulletCollision/CollisionShapes/btCylinderShape.h"
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#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
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#include "BulletDynamics/NarrowPhaseCollision/btPointCollector.h"
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#include "BulletCollision/NarrowPhaseCollision/btPointCollector.h"
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#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
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#include "BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h"
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#include "LinearMath/btIDebugDraw.h"
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//#define USE_GJK
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#ifndef USE_GJK
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#include "btBulletCollisionCommon.h"
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#endif //USE_GJK
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#include "GL_ShapeDrawer.h"
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#ifdef WIN32 //needed for glut.h
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#include <windows.h>
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@@ -51,12 +59,119 @@ const int numObjects = 2;
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GL_Simplex1to4 simplex;
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btPolyhedralConvexShape* shapePtr[maxNumObjects];
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btConvexShape* shapePtr[maxNumObjects];
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btTransform tr[numObjects];
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int screenWidth = 640.f;
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int screenHeight = 480.f;
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void clientResetScene()
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{
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tr[0].setOrigin(btVector3(0.0f,3.f,7.f));
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tr[1].setOrigin(btVector3(0.0f,9.f,2.f));
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}
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int debugMode = 0;//btIDebugDraw::DBG_DrawWireframe;
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GL_ShapeDrawer shapeDrawer;
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int m_glutScreenWidth=0;
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int m_glutScreenHeight=0;
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float m_frustumZNear = 1.f;
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float m_frustumZFar = 10000.f;
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bool m_ortho = false;
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int myglutmain(int argc, char **argv,int width,int height,const char* title);
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void updateCamera() {
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glMatrixMode(GL_PROJECTION);
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glLoadIdentity();
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btScalar rele = 0;
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btScalar razi = 0;
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btVector3 m_cameraUp(0,1,0);
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btScalar m_cameraDistance = 10.f;
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btVector3 m_cameraPosition;
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btVector3 m_cameraTargetPosition = (tr[0].getOrigin()+tr[1].getOrigin())*0.5;
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btQuaternion rot(m_cameraUp,razi);
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int m_forwardAxis = 2;
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btVector3 eyePos(0,0,0);
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eyePos[m_forwardAxis] = -m_cameraDistance;
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btVector3 forward(eyePos[0],eyePos[1],eyePos[2]);
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if (forward.length2() < SIMD_EPSILON)
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{
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forward.setValue(1.f,0.f,0.f);
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}
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btVector3 right = m_cameraUp.cross(forward);
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btQuaternion roll(right,-rele);
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eyePos = btMatrix3x3(rot) * btMatrix3x3(roll) * eyePos;
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m_cameraPosition[0] = eyePos.getX();
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m_cameraPosition[1] = eyePos.getY();
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m_cameraPosition[2] = eyePos.getZ();
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m_cameraPosition += m_cameraTargetPosition;
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if (m_glutScreenWidth == 0 && m_glutScreenHeight == 0)
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return;
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btScalar aspect;
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btVector3 extents;
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if (m_glutScreenWidth > m_glutScreenHeight)
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{
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aspect = m_glutScreenWidth / (btScalar)m_glutScreenHeight;
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extents.setValue(aspect * 1.0f, 1.0f,0);
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} else
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{
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aspect = m_glutScreenHeight / (btScalar)m_glutScreenWidth;
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extents.setValue(1.0f, aspect*1.f,0);
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}
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if (m_ortho)
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{
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// reset matrix
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glLoadIdentity();
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extents *= m_cameraDistance;
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btVector3 lower = m_cameraTargetPosition - extents;
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btVector3 upper = m_cameraTargetPosition + extents;
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//gluOrtho2D(lower.x, upper.x, lower.y, upper.y);
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glOrtho(lower.getX(), upper.getX(), lower.getY(), upper.getY(),-1000,1000);
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glMatrixMode(GL_MODELVIEW);
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glLoadIdentity();
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//glTranslatef(100,210,0);
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} else
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{
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if (m_glutScreenWidth > m_glutScreenHeight)
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{
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// glFrustum (-aspect, aspect, -1.0, 1.0, 1.0, 10000.0);
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glFrustum (-aspect * m_frustumZNear, aspect * m_frustumZNear, -m_frustumZNear, m_frustumZNear, m_frustumZNear, m_frustumZFar);
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} else
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{
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// glFrustum (-1.0, 1.0, -aspect, aspect, 1.0, 10000.0);
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glFrustum (-aspect * m_frustumZNear, aspect * m_frustumZNear, -m_frustumZNear, m_frustumZNear, m_frustumZNear, m_frustumZFar);
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}
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glMatrixMode(GL_MODELVIEW);
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glLoadIdentity();
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gluLookAt(m_cameraPosition[0], m_cameraPosition[1], m_cameraPosition[2],
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m_cameraTargetPosition[0], m_cameraTargetPosition[1], m_cameraTargetPosition[2],
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m_cameraUp.getX(),m_cameraUp.getY(),m_cameraUp.getZ());
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}
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}
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int main(int argc,char** argv)
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{
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@@ -71,13 +186,14 @@ int main(int argc,char** argv)
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tr[0].setBasis(basisA);
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tr[1].setBasis(basisB);
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btPoint3 points0[3]={btPoint3(1,0,0),btPoint3(0,1,0),btPoint3(0,0,1)};
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btPoint3 points1[5]={btPoint3(1,0,0),btPoint3(0,1,0),btPoint3(0,0,1),btPoint3(0,0,-1),btPoint3(-1,-1,0)};
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btVector3 points0[3]={btVector3(1,0,0),btVector3(0,1,0),btVector3(0,0,1)};
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btVector3 points1[5]={btVector3(1,0,0),btVector3(0,1,0),btVector3(0,0,1),btVector3(0,0,-1),btVector3(-1,-1,0)};
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btConvexHullShape hullA(points0,3);
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btConvexHullShape hullB(points1,5);
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btConvexHullShape hullA(&points0[0].getX(),3);
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btConvexHullShape hullB(&points1[0].getX(),5);
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btCylinderShape cylinder(btVector3(0.3,1,1));
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shapePtr[0] = &hullA;
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shapePtr[0] = &cylinder;//hullA;
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shapePtr[1] = &hullB;
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@@ -85,15 +201,7 @@ int main(int argc,char** argv)
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tr.setIdentity();
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return glutmain(argc, argv,screenWidth,screenHeight,"Convex Hull Distance Demo");
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}
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//to be implemented by the demo
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void clientMoveAndDisplay()
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{
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clientDisplay();
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return myglutmain(argc, argv,screenWidth,screenHeight,"Convex Hull Distance Demo");
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}
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@@ -104,6 +212,9 @@ btSimplexSolverInterface& gGjkSimplexSolver = sGjkSimplexSolver;
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void clientDisplay(void) {
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updateCamera();
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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glDisable(GL_LIGHTING);
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@@ -111,7 +222,7 @@ void clientDisplay(void) {
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float m[16];
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int i;
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#ifdef USE_GJK
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btGjkPairDetector convexConvex(shapePtr[0],shapePtr[1],&sGjkSimplexSolver,0);
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btVector3 seperatingAxis(0.00000000f,0.059727669f,0.29259586f);
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@@ -136,19 +247,55 @@ void clientDisplay(void) {
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glEnd();
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}
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#else //USE_GJK
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struct MyContactResultCallback : public btCollisionWorld::ContactResultCallback
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{
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virtual btScalar addSingleResult(btManifoldPoint& cp, const btCollisionObject* colObj0,int partId0,int index0,const btCollisionObject* colObj1,int partId1,int index1)
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{
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glBegin(GL_LINES);
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glColor3f(1, 0, 0);
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glVertex3d(cp.m_positionWorldOnA.getX(),cp.m_positionWorldOnA.getY(),cp.m_positionWorldOnA.getZ());
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glVertex3d(cp.m_positionWorldOnB.getX(),cp.m_positionWorldOnB.getY(),cp.m_positionWorldOnB.getZ());
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glEnd();
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return 1.f;
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}
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};
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btDefaultCollisionConfiguration collisionConfiguration;
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btCollisionDispatcher dispatcher(&collisionConfiguration);
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btDbvtBroadphase pairCache;
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btCollisionWorld world (&dispatcher,&pairCache,&collisionConfiguration);
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world.getDispatchInfo().m_convexMaxDistanceUseCPT = true;
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MyContactResultCallback result;
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btCollisionObject obA;
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obA.setCollisionShape(shapePtr[0]);
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obA.setWorldTransform(tr[0]);
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btCollisionObject obB;
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obB.setCollisionShape(shapePtr[1]);
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obB.setWorldTransform(tr[1]);
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world.contactPairTest(&obA,&obB,result);
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#endif//USE_GJK
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btVector3 worldMin(-1000,-1000,-1000);
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btVector3 worldMax(1000,1000,1000);
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for (i=0;i<numObjects;i++)
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{
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tr[i].getOpenGLMatrix( m );
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GL_ShapeDrawer::drawOpenGL(m,shapePtr[i],btVector3(1,1,1),getDebugMode());
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shapeDrawer.drawOpenGL(m,shapePtr[i],btVector3(1,1,1),debugMode, worldMin, worldMax);
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}
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simplex.setSimplexSolver(&sGjkSimplexSolver);
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btPoint3 ybuf[4],pbuf[4],qbuf[4];
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btVector3 ybuf[4],pbuf[4],qbuf[4];
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int numpoints = sGjkSimplexSolver.getSimplex(pbuf,qbuf,ybuf);
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simplex.reset();
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@@ -158,7 +305,7 @@ void clientDisplay(void) {
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btTransform ident;
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ident.setIdentity();
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ident.getOpenGLMatrix(m);
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GL_ShapeDrawer::drawOpenGL(m,&simplex,btVector3(1,1,1),getDebugMode());
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shapeDrawer.drawOpenGL(m,&simplex,btVector3(1,1,1),debugMode, worldMin,worldMax);
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btQuaternion orn;
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@@ -173,23 +320,74 @@ void clientDisplay(void) {
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glutSwapBuffers();
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}
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void clientResetScene()
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void clientMoveAndDisplay()
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{
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tr[0].setOrigin(btVector3(0.0f,3.f,7.f));
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tr[1].setOrigin(btVector3(0.0f,9.f,2.f));
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clientDisplay();
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}
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void clientKeyboard(unsigned char key, int x, int y)
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static void glutReshapeCallback(int w, int h)
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{
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defaultKeyboard(key, x, y);
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m_glutScreenWidth=w;
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m_glutScreenHeight=h;
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}
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void clientMouseFunc(int button, int state, int x, int y)
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{
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int myglutmain(int argc, char **argv,int width,int height,const char* title) {
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}
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void clientMotionFunc(int x,int y)
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{
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glutInit(&argc, argv);
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glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGBA | GLUT_DEPTH | GLUT_STENCIL);
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glutInitWindowPosition(0, 0);
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glutInitWindowSize(width, height);
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glutCreateWindow(title);
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#ifdef BT_USE_FREEGLUT
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glutSetOption (GLUT_ACTION_ON_WINDOW_CLOSE, GLUT_ACTION_GLUTMAINLOOP_RETURNS);
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#endif
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glutIdleFunc( clientDisplay );
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glutDisplayFunc( clientDisplay );
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glutReshapeFunc(glutReshapeCallback);
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//enable vsync to avoid tearing on Apple (todo: for Windows)
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#if defined(__APPLE__) && !defined (VMDMESA)
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int swap_interval = 1;
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CGLContextObj cgl_context = CGLGetCurrentContext();
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CGLSetParameter(cgl_context, kCGLCPSwapInterval, &swap_interval);
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#endif
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GLfloat light_ambient[] = { btScalar(0.2), btScalar(0.2), btScalar(0.2), btScalar(1.0) };
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GLfloat light_diffuse[] = { btScalar(1.0), btScalar(1.0), btScalar(1.0), btScalar(1.0) };
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GLfloat light_specular[] = { btScalar(1.0), btScalar(1.0), btScalar(1.0), btScalar(1.0 )};
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/* light_position is NOT default value */
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GLfloat light_position0[] = { btScalar(1.0), btScalar(10.0), btScalar(1.0), btScalar(0.0 )};
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GLfloat light_position1[] = { btScalar(-1.0), btScalar(-10.0), btScalar(-1.0), btScalar(0.0) };
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glLightfv(GL_LIGHT0, GL_AMBIENT, light_ambient);
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glLightfv(GL_LIGHT0, GL_DIFFUSE, light_diffuse);
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glLightfv(GL_LIGHT0, GL_SPECULAR, light_specular);
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glLightfv(GL_LIGHT0, GL_POSITION, light_position0);
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glLightfv(GL_LIGHT1, GL_AMBIENT, light_ambient);
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glLightfv(GL_LIGHT1, GL_DIFFUSE, light_diffuse);
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glLightfv(GL_LIGHT1, GL_SPECULAR, light_specular);
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glLightfv(GL_LIGHT1, GL_POSITION, light_position1);
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glEnable(GL_LIGHTING);
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glEnable(GL_LIGHT0);
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glEnable(GL_LIGHT1);
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glShadeModel(GL_SMOOTH);
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glEnable(GL_DEPTH_TEST);
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glDepthFunc(GL_LESS);
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glClearColor(btScalar(0.7),btScalar(0.7),btScalar(0.7),btScalar(0));
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glutMainLoop();
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return 0;
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}
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@@ -48,6 +48,7 @@ struct btDispatcherInfo
|
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m_allowedCcdPenetration(btScalar(0.04)),
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m_useConvexConservativeDistanceUtil(false),
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m_convexConservativeDistanceThreshold(0.0f),
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m_convexMaxDistanceUseCPT(false),
|
||||
m_stackAllocator(0)
|
||||
{
|
||||
|
||||
@@ -64,6 +65,7 @@ struct btDispatcherInfo
|
||||
btScalar m_allowedCcdPenetration;
|
||||
bool m_useConvexConservativeDistanceUtil;
|
||||
btScalar m_convexConservativeDistanceThreshold;
|
||||
bool m_convexMaxDistanceUseCPT;
|
||||
btStackAlloc* m_stackAllocator;
|
||||
};
|
||||
|
||||
|
||||
@@ -356,8 +356,14 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
|
||||
input.m_maximumDistanceSquared = BT_LARGE_FLOAT;
|
||||
} else
|
||||
#endif //USE_SEPDISTANCE_UTIL2
|
||||
{
|
||||
if (dispatchInfo.m_convexMaxDistanceUseCPT)
|
||||
{
|
||||
input.m_maximumDistanceSquared = min0->getMargin() + min1->getMargin() + m_manifoldPtr->getContactProcessingThreshold();
|
||||
} else
|
||||
{
|
||||
input.m_maximumDistanceSquared = min0->getMargin() + min1->getMargin() + m_manifoldPtr->getContactBreakingThreshold();
|
||||
}
|
||||
input.m_maximumDistanceSquared*= input.m_maximumDistanceSquared;
|
||||
}
|
||||
|
||||
|
||||
@@ -135,7 +135,7 @@ ATTRIBUTE_ALIGNED16(struct) PfxSolverBody {
|
||||
|
||||
static SIMD_FORCE_INLINE vmVector3 btReadVector3(const double* p)
|
||||
{
|
||||
float tmp[3] = {p[0],p[1],p[2]};
|
||||
float tmp[3] = {float(p[0]),float(p[1]),float(p[2])};
|
||||
vmVector3 v;
|
||||
loadXYZ(v, tmp);
|
||||
return v;
|
||||
@@ -143,7 +143,7 @@ static SIMD_FORCE_INLINE vmVector3 btReadVector3(const double* p)
|
||||
|
||||
static SIMD_FORCE_INLINE vmQuat btReadQuat(const double* p)
|
||||
{
|
||||
float tmp[4] = {p[0],p[1],p[2],p[4]};
|
||||
float tmp[4] = {float(p[0]),float(p[1]),float(p[2]),float(p[4])};
|
||||
vmQuat vq;
|
||||
loadXYZW(vq, tmp);
|
||||
return vq;
|
||||
|
||||
Reference in New Issue
Block a user