make sure aligned structures/classes use the btAlignedAlloc/btAlignedFree, by overriding the operator new/delete for that struct/class.
integrated some contributions from IBM Germany for libspe2
This commit is contained in:
ejcoumans
@@ -1,53 +1,53 @@
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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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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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/*
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GJK-EPA collision solver by Nathanael Presson
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Nov.2006
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*/
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#ifndef _05E48D53_04E0_49ad_BB0A_D74FE62E7366_
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#define _05E48D53_04E0_49ad_BB0A_D74FE62E7366_
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#include "BulletCollision/CollisionShapes/btConvexShape.h"
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class btStackAlloc;
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///btGjkEpaSolver contributed under zlib by Nathanael Presson
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struct btGjkEpaSolver
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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 depth;
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int epa_iterations;
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int gjk_iterations;
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};
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static bool Collide(const btConvexShape* shape0,const btTransform& wtrs0,
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const btConvexShape* shape1,const btTransform& wtrs1,
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btScalar radialmargin,
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btStackAlloc* stackAlloc,
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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) 2003-2006 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 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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/*
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GJK-EPA collision solver by Nathanael Presson
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Nov.2006
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*/
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#ifndef _05E48D53_04E0_49ad_BB0A_D74FE62E7366_
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#define _05E48D53_04E0_49ad_BB0A_D74FE62E7366_
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#include "BulletCollision/CollisionShapes/btConvexShape.h"
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class btStackAlloc;
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///btGjkEpaSolver contributed under zlib by Nathanael Presson
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struct btGjkEpaSolver
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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 depth;
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int epa_iterations;
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int gjk_iterations;
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};
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static bool Collide(const btConvexShape* shape0,const btTransform& wtrs0,
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const btConvexShape* shape1,const btTransform& wtrs1,
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btScalar radialmargin,
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btStackAlloc* stackAlloc,
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sResults& results);
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};
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#endif
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@@ -1,39 +1,39 @@
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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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#ifndef BT_GJP_EPA_PENETRATION_DEPTH_H
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#define BT_GJP_EPA_PENETRATION_DEPTH_H
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#include "btConvexPenetrationDepthSolver.h"
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///EpaPenetrationDepthSolver uses the Expanding Polytope Algorithm to
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///calculate the penetration depth between two convex shapes.
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class btGjkEpaPenetrationDepthSolver : public btConvexPenetrationDepthSolver
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{
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public :
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bool 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, btPoint3& wWitnessOnA, btPoint3& wWitnessOnB,
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class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc );
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private :
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};
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#endif // BT_GJP_EPA_PENETRATION_DEPTH_H
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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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#ifndef BT_GJP_EPA_PENETRATION_DEPTH_H
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#define BT_GJP_EPA_PENETRATION_DEPTH_H
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#include "btConvexPenetrationDepthSolver.h"
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///EpaPenetrationDepthSolver uses the Expanding Polytope Algorithm to
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///calculate the penetration depth between two convex shapes.
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class btGjkEpaPenetrationDepthSolver : public btConvexPenetrationDepthSolver
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{
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public :
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bool 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, btPoint3& wWitnessOnA, btPoint3& wWitnessOnB,
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class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc );
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private :
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};
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#endif // BT_GJP_EPA_PENETRATION_DEPTH_H
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@@ -20,6 +20,7 @@ subject to the following restrictions:
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#include "LinearMath/btVector3.h"
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#include "LinearMath/btTransform.h"
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#include "btManifoldPoint.h"
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#include "LinearMath/btAlignedAllocator.h"
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struct btCollisionResult;
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@@ -55,6 +56,8 @@ ATTRIBUTE_ALIGNED16( class) btPersistentManifold
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public:
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BT_DECLARE_ALIGNED_ALLOCATOR();
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int m_index1;
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btPersistentManifold();
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