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More GJK degeneracy fixes, thanks Jacob Langford for the feedback:

Browse Source 
http://code.google.com/p/bullet/issues/detail?id=250

Added missing files for Maya Dynamica plugin
Thanks Herbert Law for the patch, and damrit and others for the report
http://code.google.com/p/bullet/issues/detail?id=231

Fix btQuaternion shortestArcQuat, thanks Stan Melax for original fix and shogun for reminder
http://bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1989

Implemented btDiscreteDynamicsWorld::removeCollisionObject (and btSoftBodyDynamicsWorld) to avoid
crashes. Thanks Jacob Langford for bringing that up.

Minor sphere-debug drawing issue (spheres were drawn inside-out (wrong face winding)
This commit is contained in:
erwin.coumans
2009-07-13 21:48:19 +00:00
parent d4b099236c
commit c4ad354ac0
16 changed files with 329 additions and 65 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
src/LinearMath/btQuaternion.h
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@@ -387,7 +387,11 @@ shortestArcQuat(const btVector3& v0, const btVector3& v1) // Game Programming Ge
btScalar d = v0.dot(v1);
if (d < -1.0 + SIMD_EPSILON)
return btQuaternion(0.0f,1.0f,0.0f,0.0f); // just pick any vector
{
btVector3 n,unused;
btPlaneSpace1(v0,n,unused);
return btQuaternion(n.x(),n.y(),n.z(),0.0f); // just pick any vector that is orthogonal to v0
}
btScalar s = btSqrt((1.0f + d) * 2.0f);
btScalar rs = 1.0f / s;

4
src/LinearMath/btScalar.h
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@@ -242,6 +242,10 @@ SIMD_FORCE_INLINE btScalar btFmod(btScalar x,btScalar y) { return fmodf(x,y); }
#define SIMD_HALF_PI (SIMD_2_PI * btScalar(0.25))
#define SIMD_RADS_PER_DEG (SIMD_2_PI / btScalar(360.0))
#define SIMD_DEGS_PER_RAD (btScalar(360.0) / SIMD_2_PI)
#define SIMDSQRT12 btScalar(0.7071067811865475244008443621048490)
#define btRecipSqrt(x) ((btScalar)(btScalar(1.0)/btSqrt(btScalar(x)))) /* reciprocal square root */
#ifdef BT_USE_DOUBLE_PRECISION
#define SIMD_EPSILON DBL_EPSILON

23
src/LinearMath/btTransformUtil.h
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@@ -21,9 +21,6 @@ subject to the following restrictions:
#define SIMDSQRT12 btScalar(0.7071067811865475244008443621048490)
#define btRecipSqrt(x) ((btScalar)(btScalar(1.0)/btSqrt(btScalar(x)))) /* reciprocal square root */
SIMD_FORCE_INLINE btVector3 btAabbSupport(const btVector3& halfExtents,const btVector3& supportDir)
{
@@ -33,25 +30,7 @@ SIMD_FORCE_INLINE btVector3 btAabbSupport(const btVector3& halfExtents,const btV
}
SIMD_FORCE_INLINE void btPlaneSpace1 (const btVector3& n, btVector3& p, btVector3& q)
{
if (btFabs(n.z()) > SIMDSQRT12) {
// choose p in y-z plane
btScalar a = n[1]*n[1] + n[2]*n[2];
btScalar k = btRecipSqrt (a);
p.setValue(0,-n[2]*k,n[1]*k);
// set q = n x p
q.setValue(a*k,-n[0]*p[2],n[0]*p[1]);
}
else {
// choose p in x-y plane
btScalar a = n.x()*n.x() + n.y()*n.y();
btScalar k = btRecipSqrt (a);
p.setValue(-n.y()*k,n.x()*k,0);
// set q = n x p
q.setValue(-n.z()*p.y(),n.z()*p.x(),a*k);
}
}

20
src/LinearMath/btVector3.h
View File

@@ -635,4 +635,24 @@ SIMD_FORCE_INLINE void btUnSwapVector3Endian(btVector3& vector)
vector = swappedVec;
}
SIMD_FORCE_INLINE void btPlaneSpace1 (const btVector3& n, btVector3& p, btVector3& q)
{
if (btFabs(n.z()) > SIMDSQRT12) {
// choose p in y-z plane
btScalar a = n[1]*n[1] + n[2]*n[2];
btScalar k = btRecipSqrt (a);
p.setValue(0,-n[2]*k,n[1]*k);
// set q = n x p
q.setValue(a*k,-n[0]*p[2],n[0]*p[1]);
}
else {
// choose p in x-y plane
btScalar a = n.x()*n.x() + n.y()*n.y();
btScalar k = btRecipSqrt (a);
p.setValue(-n.y()*k,n.x()*k,0);
// set q = n x p
q.setValue(-n.z()*p.y(),n.z()*p.x(),a*k);
}
}
#endif //SIMD__VECTOR3_H