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further work on shared memory API

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fix dependency of BulletDynamics to Bullet3Common (b3Printf)
This commit is contained in:
=
2015-08-02 14:00:43 -07:00
parent 19c5be5646
commit eb6663ed4b
15 changed files with 492 additions and 112 deletions
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8
src/BulletCollision/CollisionShapes/btConvexShape.cpp
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@@ -48,7 +48,7 @@ btConvexShape::~btConvexShape()
}
void btConvexShape::project(const btTransform& trans, const btVector3& dir, btScalar& min, btScalar& max) const
void btConvexShape::project(const btTransform& trans, const btVector3& dir, btScalar& min, btScalar& max, btVector3& witnesPtMin,btVector3& witnesPtMax) const
{
btVector3 localAxis = dir*trans.getBasis();
btVector3 vtx1 = trans(localGetSupportingVertex(localAxis));
@@ -56,12 +56,16 @@ void btConvexShape::project(const btTransform& trans, const btVector3& dir, btSc
min = vtx1.dot(dir);
max = vtx2.dot(dir);
witnesPtMax = vtx2;
witnesPtMin = vtx1;
if(min>max)
{
btScalar tmp = min;
min = max;
max = tmp;
witnesPtMax = vtx1;
witnesPtMin = vtx2;
}
}

3
src/BulletCollision/CollisionShapes/btConvexShape.h
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@@ -52,7 +52,8 @@ public:
btScalar getMarginNonVirtual () const;
void getAabbNonVirtual (const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
virtual void project(const btTransform& trans, const btVector3& dir, btScalar& min, btScalar& max) const;
virtual void project(const btTransform& trans, const btVector3& dir, btScalar& minProj, btScalar& maxProj, btVector3& witnesPtMin,btVector3& witnesPtMax) const;
//notice that the vectors should be unit length