Demos/EPAPenDepthDemo/PenetrationTestBullet.cpp

@@ -35,7 +35,10 @@
 #include "../Extras/ExtraSolid35/Solid3JohnsonSimplexSolver.h"
 #include "../Extras/EPA/EpaPenetrationDepthSolver.h"
 
-
+#define USE_ORIGINAL 1
+#ifndef USE_ORIGINAL
+#include "BulletCollision/NarrowPhaseCollision/btGjkEpa.h"
+#endif //USE_ORIGINAL
 
 static bool gRefMode = false;
 static int gMethod = 0;
@@ -295,6 +298,9 @@ static bool TestEPA(const MyConvex& hull0, const MyConvex& hull1)
 	else					
 		Solver = &Solver2;
 
+
+#ifdef USE_ORIGINAL
+
 	btGjkPairDetector GJK(&convexA, &convexB, &simplexSolver, Solver);
 	GJK.m_catchDegeneracies = 1;
 	convexA.setMargin(0.01f);
@@ -309,6 +315,21 @@ static bool TestEPA(const MyConvex& hull0, const MyConvex& hull1)
 	gLastUsedMethod = GJK.m_lastUsedMethod;
 	gNumGjkIterations = GJK.m_curIter;
 	gLastDegenerateSimplex= GJK.m_degenerateSimplex;
+#else
+	MyResult output;
+	btVector3	witnesses[2];
+	btVector3	normal;
+	btScalar	depth;
+
+	btGjkEpaSolver::Collide(&convexA,hull0.mTransform,
+		&convexB,hull1.mTransform,
+		0.01,0.01,
+		witnesses,normal,depth);
+	if (depth>0)
+	{
+		output.addContactPoint(normal,witnesses[1],-depth);
+	}
+#endif
 	return true;
 }
 

Demos/OpenGL/DemoApplication.cpp

@@ -892,5 +892,14 @@ void	DemoApplication::clientResetScene()
 				btRigidBody::upcast(colObj)->setAngularVelocity(btVector3(0,0,0));
 			}
 		}
+
+	/*
+	//quickly search some issue at a certain simulation frame, pressing space to reset
+		int fixed=18;
+		for (int i=0;i<fixed;i++)
+		{
+			getDynamicsWorld()->stepSimulation(1./60.f,1);
+		}
+	*/
 	}
 }

Extras/GIMPACT/include/GIMPACT/gim_memory.h

@@ -126,7 +126,9 @@ get current memory management functions.
 */
 //! @{
 gim_alloc_function *gim_get_alloc_handler (void);
+#ifdef ALLOCA_GIMPACT
 gim_alloca_function *gim_get_alloca_handler(void);
+#endif //
 gim_realloc_function *gim_get_realloc_handler (void);
 gim_free_function  *gim_get_free_handler (void);
 //! @}

Extras/GIMPACT/src/gim_memory.cpp

@@ -133,10 +133,13 @@ void * gim_alloc(size_t size)
   return ptr;
 }
 
+#ifdef ALLOCA_GIMPACT
 void * gim_alloca(size_t size)
 {
-  if (g_allocafn) return g_allocafn(size); else return alloca(size);
+  if (g_allocafn) return g_allocafn(size); else 
+	  return alloca(size);
 }
+#endif
 
 
 void * gim_realloc(void *ptr, size_t oldsize, size_t newsize)
@@ -305,13 +308,13 @@ void gim_destroy_buffer_manager(GUINT buffer_manager_id)
 
     GBUFFER_DATA * buffers = GIM_DYNARRAY_POINTER(GBUFFER_DATA,bm_data->m_buffer_array);
     GUINT i, buffer_count = bm_data->m_buffer_array.m_size;
-    for (i=0;i<buffer_count ;i++ )
-    {
+    for (i=0;i<buffer_count ;i++ )
+    {
     	if(buffers[i].m_buffer_handle!=0) //Is active
     	{
     	    // free handle
     	    bm_data->m_prototype.free_fn(buffers[i].m_buffer_handle,buffers[i].m_size);
-    	}
+    	}
     }
 
     //destroy buffer array
@@ -339,7 +342,7 @@ void gim_get_buffer_manager_data(GUINT buffer_manager_id,GBUFFER_MANAGER_DATA **
 void gim_init_buffer_managers()
 {
     GUINT i;
-    for (i=0;i<MAX_BUFFER_MANAGERS;i++)
+    for (i=0;i<MAX_BUFFER_MANAGERS;i++)
     {
         g_buffer_managers[i].m_active = 0;
         g_buffer_managers[i].m_buffer_array.m_pdata = 0;
@@ -347,7 +350,7 @@ void gim_init_buffer_managers()
         g_buffer_managers[i].m_buffer_array.m_size = 0;
         g_buffer_managers[i].m_free_positions.m_pdata = 0;
         g_buffer_managers[i].m_free_positions.m_reserve_size = 0;
-        g_buffer_managers[i].m_free_positions.m_size = 0;
+        g_buffer_managers[i].m_free_positions.m_size = 0;
     }
     g_buffer_managers_count = 0;
     // Add the two most important buffer managers

src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp

@@ -121,13 +121,13 @@ void	btCollisionWorld::addCollisionObject(btCollisionObject* collisionObject,sho
 
 }
 
-void	btCollisionWorld::performDiscreteCollisionDetection()
+
+
+
+void	btCollisionWorld::performDiscreteCollisionDetection(btDispatcherInfo& dispatchInfo)
 {
 	BEGIN_PROFILE("performDiscreteCollisionDetection");
 
-	btDispatcherInfo	dispatchInfo;
-	dispatchInfo.m_timeStep = 0.f;
-	dispatchInfo.m_stepCount = 0;
 
 	//update aabb (of all moved objects)
 

src/BulletCollision/CollisionDispatch/btCollisionWorld.h

@@ -236,8 +236,8 @@ public:
 
 	void	removeCollisionObject(btCollisionObject* collisionObject);
 
-	virtual void	performDiscreteCollisionDetection();
-
+	virtual void	performDiscreteCollisionDetection(	btDispatcherInfo&	dispatchInfo);
+	
 };
 
 

src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp

@@ -39,6 +39,10 @@ subject to the following restrictions:
 
 #include "BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h"
 
+#ifdef USE_BT_GJKEPA
+#include "BulletCollision/NarrowPhaseCollision/btGjkEpa.h"
+#endif //USE_BT_GJKEPA
+
 //#include "NarrowPhaseCollision/EpaPenetrationDepthSolver.h"
 
 #ifdef WIN32
@@ -155,6 +159,26 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
 	}
 
 
+#ifdef USE_BT_GJKEPA
+	btVector3		witnesses[2];
+	btVector3		normal(0,0,0);
+	btScalar		depth(0);
+	btConvexShape*	shape0(static_cast<btConvexShape*>(body0->getCollisionShape()));
+	btConvexShape*	shape1(static_cast<btConvexShape*>(body1->getCollisionShape()));
+	const btScalar	margin(shape0->getMargin()+shape1->getMargin());
+	resultOut->setPersistentManifold(m_manifoldPtr);
+	if(btGjkEpaSolver::Collide(	shape0,body0->getWorldTransform(),
+								shape1,body1->getWorldTransform(),
+								shape0->getMargin(),shape1->getMargin(),
+								witnesses,normal,depth))
+	{
+			
+
+		//optional: draw the contact+normal
+		//dispatchInfo.m_debugDraw->drawLine(witnesses[1],witnesses[1]+normal,btVector3(255,0,0));
+		resultOut->addContactPoint(normal,witnesses[1],-depth);
+	}
+	#else
 	checkPenetrationDepthSolver();
 
 	btConvexShape* min0 = static_cast<btConvexShape*>(body0->getCollisionShape());
@@ -175,6 +199,7 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
 	
 	resultOut->setPersistentManifold(m_manifoldPtr);
 	m_gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
+	#endif
 
 }
 

src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp

@@ -267,8 +267,14 @@ void	btDiscreteDynamicsWorld::internalSingleStepSimulation(float timeStep)
 	///apply gravity, predict motion
 	predictUnconstraintMotion(timeStep);
 
+	btDispatcherInfo	dispatchInfo;
+	dispatchInfo.m_timeStep = timeStep;
+	dispatchInfo.m_stepCount = 0;
+	dispatchInfo.m_debugDraw = getDebugDrawer();
+
+
 	///perform collision detection
-	performDiscreteCollisionDetection();
+	performDiscreteCollisionDetection(dispatchInfo);
 
 	calculateSimulationIslands();
 

src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp

@@ -52,8 +52,13 @@ int		btSimpleDynamicsWorld::stepSimulation( float timeStep,int maxSubSteps, floa
 	///apply gravity, predict motion
 	predictUnconstraintMotion(timeStep);
 
+	btDispatcherInfo	dispatchInfo;
+	dispatchInfo.m_timeStep = timeStep;
+	dispatchInfo.m_stepCount = 0;
+	dispatchInfo.m_debugDraw = getDebugDrawer();
+
 	///perform collision detection
-	performDiscreteCollisionDetection();
+	performDiscreteCollisionDetection(dispatchInfo );
 
 	///solve contact constraints
 	int numManifolds = m_dispatcher1->getNumManifolds();