moved files around

Demos/CollisionDemo/CollisionDemo.cpp

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+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+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.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+
+///
+/// Collision Demo shows a degenerate case, where the Simplex solver has to deal with near-affine dependent cases
+/// See the define CATCH_DEGENERATE_TETRAHEDRON in Bullet's VoronoiSimplexSolver.cpp
+///
+
+#include "GL_Simplex1to4.h"
+#include "SimdQuaternion.h"
+#include "SimdTransform.h"
+#include "NarrowPhaseCollision/VoronoiSimplexSolver.h"
+#include "CollisionShapes/BoxShape.h"
+
+#include "NarrowPhaseCollision/GjkPairDetector.h"
+#include "NarrowPhaseCollision/PointCollector.h"
+#include "NarrowPhaseCollision/VoronoiSimplexSolver.h"
+#include "NarrowPhaseCollision/ConvexPenetrationDepthSolver.h"
+
+#include "GL_ShapeDrawer.h"
+#ifdef WIN32 //needed for glut.h
+#include <windows.h>
+#endif
+#include <GL/glut.h>
+#include "GlutStuff.h"
+
+
+float yaw=0.f,pitch=0.f,roll=0.f;
+const int maxNumObjects = 4;
+const int numObjects = 2;
+
+GL_Simplex1to4 simplex;
+
+PolyhedralConvexShape*	shapePtr[maxNumObjects];
+
+SimdTransform tr[numObjects];
+int screenWidth = 640.f;
+int screenHeight = 480.f;
+
+void DrawRasterizerLine(float const* , float const*, int)
+{
+
+}
+
+int main(int argc,char** argv)
+{
+	setCameraDistance(20.f);
+
+	tr[0].setOrigin(SimdVector3(0.0013328250f,8.1363249f,7.0390840f));
+	tr[1].setOrigin(SimdVector3(0.00000000f,9.1262732f,2.0343180f));
+
+	//tr[0].setOrigin(SimdVector3(0,0,0));
+	//tr[1].setOrigin(SimdVector3(0,10,0));
+
+	SimdMatrix3x3 basisA;
+	basisA.setValue(0.99999958f,0.00022980258f,0.00090992288f,
+		-0.00029313788f,0.99753088f,0.070228584f,
+		-0.00089153741f,-0.070228823f,0.99753052f);
+
+	SimdMatrix3x3 basisB;
+	basisB.setValue(1.0000000f,4.4865553e-018f,-4.4410586e-017f,
+		4.4865495e-018f,0.97979438f,0.20000751f,
+		4.4410586e-017f,-0.20000751f,0.97979438f);
+
+	tr[0].setBasis(basisA);
+	tr[1].setBasis(basisB);
+
+
+
+	SimdVector3 boxHalfExtentsA(1.0000004768371582f,1.0000004768371582f,1.0000001192092896f);
+	SimdVector3 boxHalfExtentsB(3.2836332321166992f,3.2836332321166992f,3.2836320400238037f);
+
+	BoxShape	boxA(boxHalfExtentsA);
+	BoxShape	boxB(boxHalfExtentsB);
+	shapePtr[0] = &boxA;
+	shapePtr[1] = &boxB;
+	
+
+	SimdTransform tr;
+	tr.setIdentity();
+
+
+	return glutmain(argc, argv,screenWidth,screenHeight,"Collision Demo");
+}
+
+//to be implemented by the demo
+
+void clientMoveAndDisplay()
+{
+	
+	clientDisplay();
+}
+
+
+static VoronoiSimplexSolver sGjkSimplexSolver;
+SimplexSolverInterface& gGjkSimplexSolver = sGjkSimplexSolver;
+
+
+
+void clientDisplay(void) {
+
+    glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); 
+	glDisable(GL_LIGHTING);
+
+	//GL_ShapeDrawer::DrawCoordSystem();
+
+	float m[16];
+	int i;
+
+	GjkPairDetector	convexConvex(shapePtr[0],shapePtr[1],&sGjkSimplexSolver,0);
+
+	SimdVector3 seperatingAxis(0.00000000f,0.059727669f,0.29259586f);
+	convexConvex.SetCachedSeperatingAxis(seperatingAxis);
+
+	PointCollector gjkOutput;
+	GjkPairDetector::ClosestPointInput input;
+	input.m_transformA = tr[0];
+	input.m_transformB = tr[1];
+
+	convexConvex.GetClosestPoints(input ,gjkOutput,0);
+
+	if (gjkOutput.m_hasResult)
+	{
+		SimdVector3 endPt = gjkOutput.m_pointInWorld +
+			gjkOutput.m_normalOnBInWorld*gjkOutput.m_distance;
+
+		 glBegin(GL_LINES);
+		glColor3f(1, 0, 0);
+		glVertex3d(gjkOutput.m_pointInWorld.x(), gjkOutput.m_pointInWorld.y(),gjkOutput.m_pointInWorld.z());
+		glVertex3d(endPt.x(),endPt.y(),endPt.z());
+		//glVertex3d(gjkOutputm_pointInWorld.x(), gjkOutputm_pointInWorld.y(),gjkOutputm_pointInWorld.z());
+		//glVertex3d(gjkOutputm_pointInWorld.x(), gjkOutputm_pointInWorld.y(),gjkOutputm_pointInWorld.z());
+		glEnd();
+
+	}
+
+	for (i=0;i<numObjects;i++)
+	{
+		
+		tr[i].getOpenGLMatrix( m );
+
+		GL_ShapeDrawer::DrawOpenGL(m,shapePtr[i],SimdVector3(1,1,1),getDebugMode());
+
+
+	}
+
+	simplex.SetSimplexSolver(&sGjkSimplexSolver);
+	SimdPoint3 ybuf[4],pbuf[4],qbuf[4];
+	int numpoints = sGjkSimplexSolver.getSimplex(pbuf,qbuf,ybuf);
+	simplex.Reset();
+	
+	for (i=0;i<numpoints;i++)
+		simplex.AddVertex(ybuf[i]);
+
+	SimdTransform ident;
+	ident.setIdentity();
+	ident.getOpenGLMatrix(m);
+	GL_ShapeDrawer::DrawOpenGL(m,&simplex,SimdVector3(1,1,1),getDebugMode());
+
+
+	SimdQuaternion orn;
+	orn.setEuler(yaw,pitch,roll);
+	tr[0].setRotation(orn);
+
+//	pitch += 0.005f;
+//	yaw += 0.01f;
+
+	glFlush();
+    glutSwapBuffers();
+}
+
+
+
+
+
+void clientResetScene()
+{
+
+}
+void clientKeyboard(unsigned char key, int x, int y)
+{
+	defaultKeyboard(key, x, y);
+}
+
+
+void clientMouseFunc(int button, int state, int x, int y)
+{
+
+}
+void	clientMotionFunc(int x,int y)
+{
+}

Demos/CollisionDemo/Jamfile

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+SubDir TOP Demos CollisionDemo ;
+
+BulletDemo CollisionDemo : [ Wildcard *.h *.cpp  ] ;