update build for btConvex2dShape functionality

use btDbvtBroadphase in HelloWorld demo, it is the recommended broadphase

Demos/Box2dDemo/Box2dDemo.cpp

@@ -23,8 +23,8 @@ subject to the following restrictions:
 #include "BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h"
 
 ///create 125 (5x5x5) dynamic object
-#define ARRAY_SIZE_X 1
+#define ARRAY_SIZE_X 15
-#define ARRAY_SIZE_Y 2
+#define ARRAY_SIZE_Y 15 
 #define ARRAY_SIZE_Z 1
 
 //maximum number of objects (and allow user to shoot additional boxes)
@@ -218,7 +218,7 @@ void	Box2dDemo::initPhysics()
 					btRigidBody::btRigidBodyConstructionInfo rbInfo(0,0,0);
 					switch (j%3)
 					{
-#if 0
+#if 1
 					case 0:
 						rbInfo = btRigidBody::btRigidBodyConstructionInfo(mass,myMotionState,colShape,localInertia);
 						break;
@@ -227,7 +227,7 @@ void	Box2dDemo::initPhysics()
 						break;
 #endif
 					default:
-						rbInfo = btRigidBody::btRigidBodyConstructionInfo(mass,myMotionState,colShape3,localInertia);
+						rbInfo = btRigidBody::btRigidBodyConstructionInfo(mass,myMotionState,colShape2,localInertia);
 					}
 					btRigidBody* body = new btRigidBody(rbInfo);
 					//body->setContactProcessingThreshold(colShape->getContactBreakingThreshold());
@@ -239,8 +239,8 @@ void	Box2dDemo::initPhysics()
 					body->setActivationState(ISLAND_SLEEPING);
 
 
-				y += -0.8*deltaY;
+			//	y += -0.8*deltaY;
-				//y += deltaY;
+				y += deltaY;
 			}
 
 			x += deltaX;

Demos/Box2dDemo/CMakeLists.txt

@@ -22,11 +22,7 @@ OpenGLSupport  BulletDynamics  BulletCollision LinearMath    ${GLUT_glut_LIBRARY
 ADD_EXECUTABLE(AppBox2dDemo
 	main.cpp
 	Box2dDemo.cpp
-	btBox2dBox2dCollisionAlgorithm.h
 	Box2dDemo.h
-	btBox2dShape.cpp
-	btBox2dBox2dCollisionAlgorithm.cpp	
-	btBox2dShape.h
 )
 
 

Demos/HelloWorld/HelloWorld.cpp

@@ -30,12 +30,8 @@ int main(int argc, char** argv)
 	///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
 	btCollisionDispatcher* dispatcher = new	btCollisionDispatcher(collisionConfiguration);
 
-	///the maximum size of the collision world. Make sure objects stay within these boundaries
+	///btDbvtBroadphase is a good general purpose broadphase. You can also try out btAxis3Sweep.
-	///Don't make the world AABB size too large, it will harm simulation quality and performance
+	btBroadphaseInterface* overlappingPairCache = new btDbvtBroadphase();
-	btVector3 worldAabbMin(-10000,-10000,-10000);
-	btVector3 worldAabbMax(10000,10000,10000);
-	int	maxProxies = 1024;
-	btAxisSweep3* overlappingPairCache = new btAxisSweep3(worldAabbMin,worldAabbMax,maxProxies);
 
 	///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
 	btSequentialImpulseConstraintSolver* solver = new btSequentialImpulseConstraintSolver;
@@ -173,3 +169,4 @@ int main(int argc, char** argv)
 	collisionShapes.clear();
 
 }
+

Demos/VehicleDemo/VehicleDemo.cpp

@@ -655,16 +655,16 @@ void	VehicleDemo::updateCamera()
 	}
 	m_cameraPosition -= correctionFactor*camToObject;
 	
-	//update OpenGL camera settings
+	  btScalar aspect = m_glutScreenWidth / (btScalar)m_glutScreenHeight;
-    glFrustum(-1.0, 1.0, -1.0, 1.0, 1.0, 10000.0);
+        glFrustum (-aspect, aspect, -1.0, 1.0, 1.0, 10000.0);
 
-	 glMatrixMode(GL_MODELVIEW);
+         glMatrixMode(GL_MODELVIEW);
-	 glLoadIdentity();
+         glLoadIdentity();
 
     gluLookAt(m_cameraPosition[0],m_cameraPosition[1],m_cameraPosition[2],
-		      m_cameraTargetPosition[0],m_cameraTargetPosition[1], m_cameraTargetPosition[2],
+                      m_cameraTargetPosition[0],m_cameraTargetPosition[1], m_cameraTargetPosition[2],
-			  m_cameraUp.getX(),m_cameraUp.getY(),m_cameraUp.getZ());
+                          m_cameraUp.getX(),m_cameraUp.getY(),m_cameraUp.getZ());
-  
+
 
 
 }

src/BulletCollision/CMakeLists.txt

@@ -13,6 +13,7 @@ SET(BulletCollision_SRCS
 	BroadphaseCollision/btSimpleBroadphase.cpp
 	CollisionDispatch/btActivatingCollisionAlgorithm.cpp
 	CollisionDispatch/btBoxBoxCollisionAlgorithm.cpp
+	CollisionDispatch/btBox2dBox2dCollisionAlgorithm.cpp
 	CollisionDispatch/btBoxBoxDetector.cpp
 	CollisionDispatch/btCollisionDispatcher.cpp
 	CollisionDispatch/btCollisionObject.cpp
@@ -21,6 +22,7 @@ SET(BulletCollision_SRCS
 	CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp
 	CollisionDispatch/btConvexConvexAlgorithm.cpp
 	CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp
+	CollisionDispatch/btConvex2dConvex2dAlgorithm.cpp
 	CollisionDispatch/btDefaultCollisionConfiguration.cpp
 	CollisionDispatch/btEmptyCollisionAlgorithm.cpp
 	CollisionDispatch/btGhostObject.cpp
@@ -32,6 +34,7 @@ SET(BulletCollision_SRCS
 	CollisionDispatch/btUnionFind.cpp
 	CollisionDispatch/SphereTriangleDetector.cpp
 	CollisionShapes/btBoxShape.cpp
+	CollisionShapes/btBox2dShape.cpp
 	CollisionShapes/btBvhTriangleMeshShape.cpp
 	CollisionShapes/btCapsuleShape.cpp
 	CollisionShapes/btCollisionShape.cpp
@@ -42,6 +45,7 @@ SET(BulletCollision_SRCS
 	CollisionShapes/btConvexInternalShape.cpp
 	CollisionShapes/btConvexPointCloudShape.cpp
 	CollisionShapes/btConvexShape.cpp
+	CollisionShapes/btConvex2dShape.cpp
 	CollisionShapes/btConvexTriangleMeshShape.cpp
 	CollisionShapes/btCylinderShape.cpp
 	CollisionShapes/btEmptyShape.cpp
@@ -108,6 +112,7 @@ SET(BroadphaseCollision_HDRS
 SET(CollisionDispatch_HDRS
 	CollisionDispatch/btActivatingCollisionAlgorithm.h
 	CollisionDispatch/btBoxBoxCollisionAlgorithm.h
+	CollisionDispatch/btBox2dBox2dCollisionAlgorithm.h
 	CollisionDispatch/btBoxBoxDetector.h
 	CollisionDispatch/btCollisionConfiguration.h
 	CollisionDispatch/btCollisionCreateFunc.h
@@ -117,6 +122,7 @@ SET(CollisionDispatch_HDRS
 	CollisionDispatch/btCompoundCollisionAlgorithm.h
 	CollisionDispatch/btConvexConcaveCollisionAlgorithm.h
 	CollisionDispatch/btConvexConvexAlgorithm.h
+	CollisionDispatch/btConvex2dConvex2dAlgorithm.h
 	CollisionDispatch/btConvexPlaneCollisionAlgorithm.h
 	CollisionDispatch/btDefaultCollisionConfiguration.h
 	CollisionDispatch/btEmptyCollisionAlgorithm.h
@@ -131,6 +137,7 @@ SET(CollisionDispatch_HDRS
 )
 SET(CollisionShapes_HDRS
 	CollisionShapes/btBoxShape.h
+	CollisionShapes/btBox2dShape.h
 	CollisionShapes/btBvhTriangleMeshShape.h
 	CollisionShapes/btCapsuleShape.h
 	CollisionShapes/btCollisionMargin.h
@@ -142,6 +149,7 @@ SET(CollisionShapes_HDRS
 	CollisionShapes/btConvexInternalShape.h
 	CollisionShapes/btConvexPointCloudShape.h
 	CollisionShapes/btConvexShape.h
+	CollisionShapes/btConvex2dShape.h
 	CollisionShapes/btConvexTriangleMeshShape.h
 	CollisionShapes/btCylinderShape.h
 	CollisionShapes/btEmptyShape.h