diff options
Diffstat (limited to 'extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp')
| -rw-r--r-- | extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp | 111 |
1 files changed, 59 insertions, 52 deletions
diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp index de6749a9b72..c4bab3a134a 100644 --- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp +++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp @@ -25,48 +25,48 @@ subject to the following restrictions: #define NUM_UNITSPHERE_POINTS 42 static btVector3 sPenetrationDirections[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2] = { -btVector3(0.000000f , -0.000000f,-1.000000f), -btVector3(0.723608f , -0.525725f,-0.447219f), -btVector3(-0.276388f , -0.850649f,-0.447219f), -btVector3(-0.894426f , -0.000000f,-0.447216f), -btVector3(-0.276388f , 0.850649f,-0.447220f), -btVector3(0.723608f , 0.525725f,-0.447219f), -btVector3(0.276388f , -0.850649f,0.447220f), -btVector3(-0.723608f , -0.525725f,0.447219f), -btVector3(-0.723608f , 0.525725f,0.447219f), -btVector3(0.276388f , 0.850649f,0.447219f), -btVector3(0.894426f , 0.000000f,0.447216f), -btVector3(-0.000000f , 0.000000f,1.000000f), -btVector3(0.425323f , -0.309011f,-0.850654f), -btVector3(-0.162456f , -0.499995f,-0.850654f), -btVector3(0.262869f , -0.809012f,-0.525738f), -btVector3(0.425323f , 0.309011f,-0.850654f), -btVector3(0.850648f , -0.000000f,-0.525736f), -btVector3(-0.525730f , -0.000000f,-0.850652f), -btVector3(-0.688190f , -0.499997f,-0.525736f), -btVector3(-0.162456f , 0.499995f,-0.850654f), -btVector3(-0.688190f , 0.499997f,-0.525736f), -btVector3(0.262869f , 0.809012f,-0.525738f), -btVector3(0.951058f , 0.309013f,0.000000f), -btVector3(0.951058f , -0.309013f,0.000000f), -btVector3(0.587786f , -0.809017f,0.000000f), -btVector3(0.000000f , -1.000000f,0.000000f), -btVector3(-0.587786f , -0.809017f,0.000000f), -btVector3(-0.951058f , -0.309013f,-0.000000f), -btVector3(-0.951058f , 0.309013f,-0.000000f), -btVector3(-0.587786f , 0.809017f,-0.000000f), -btVector3(-0.000000f , 1.000000f,-0.000000f), -btVector3(0.587786f , 0.809017f,-0.000000f), -btVector3(0.688190f , -0.499997f,0.525736f), -btVector3(-0.262869f , -0.809012f,0.525738f), -btVector3(-0.850648f , 0.000000f,0.525736f), -btVector3(-0.262869f , 0.809012f,0.525738f), -btVector3(0.688190f , 0.499997f,0.525736f), -btVector3(0.525730f , 0.000000f,0.850652f), -btVector3(0.162456f , -0.499995f,0.850654f), -btVector3(-0.425323f , -0.309011f,0.850654f), -btVector3(-0.425323f , 0.309011f,0.850654f), -btVector3(0.162456f , 0.499995f,0.850654f) +btVector3(btScalar(0.000000) , btScalar(-0.000000),btScalar(-1.000000)), +btVector3(btScalar(0.723608) , btScalar(-0.525725),btScalar(-0.447219)), +btVector3(btScalar(-0.276388) , btScalar(-0.850649),btScalar(-0.447219)), +btVector3(btScalar(-0.894426) , btScalar(-0.000000),btScalar(-0.447216)), +btVector3(btScalar(-0.276388) , btScalar(0.850649),btScalar(-0.447220)), +btVector3(btScalar(0.723608) , btScalar(0.525725),btScalar(-0.447219)), +btVector3(btScalar(0.276388) , btScalar(-0.850649),btScalar(0.447220)), +btVector3(btScalar(-0.723608) , btScalar(-0.525725),btScalar(0.447219)), +btVector3(btScalar(-0.723608) , btScalar(0.525725),btScalar(0.447219)), +btVector3(btScalar(0.276388) , btScalar(0.850649),btScalar(0.447219)), +btVector3(btScalar(0.894426) , btScalar(0.000000),btScalar(0.447216)), +btVector3(btScalar(-0.000000) , btScalar(0.000000),btScalar(1.000000)), +btVector3(btScalar(0.425323) , btScalar(-0.309011),btScalar(-0.850654)), +btVector3(btScalar(-0.162456) , btScalar(-0.499995),btScalar(-0.850654)), +btVector3(btScalar(0.262869) , btScalar(-0.809012),btScalar(-0.525738)), +btVector3(btScalar(0.425323) , btScalar(0.309011),btScalar(-0.850654)), +btVector3(btScalar(0.850648) , btScalar(-0.000000),btScalar(-0.525736)), +btVector3(btScalar(-0.525730) , btScalar(-0.000000),btScalar(-0.850652)), +btVector3(btScalar(-0.688190) , btScalar(-0.499997),btScalar(-0.525736)), +btVector3(btScalar(-0.162456) , btScalar(0.499995),btScalar(-0.850654)), +btVector3(btScalar(-0.688190) , btScalar(0.499997),btScalar(-0.525736)), +btVector3(btScalar(0.262869) , btScalar(0.809012),btScalar(-0.525738)), +btVector3(btScalar(0.951058) , btScalar(0.309013),btScalar(0.000000)), +btVector3(btScalar(0.951058) , btScalar(-0.309013),btScalar(0.000000)), +btVector3(btScalar(0.587786) , btScalar(-0.809017),btScalar(0.000000)), +btVector3(btScalar(0.000000) , btScalar(-1.000000),btScalar(0.000000)), +btVector3(btScalar(-0.587786) , btScalar(-0.809017),btScalar(0.000000)), +btVector3(btScalar(-0.951058) , btScalar(-0.309013),btScalar(-0.000000)), +btVector3(btScalar(-0.951058) , btScalar(0.309013),btScalar(-0.000000)), +btVector3(btScalar(-0.587786) , btScalar(0.809017),btScalar(-0.000000)), +btVector3(btScalar(-0.000000) , btScalar(1.000000),btScalar(-0.000000)), +btVector3(btScalar(0.587786) , btScalar(0.809017),btScalar(-0.000000)), +btVector3(btScalar(0.688190) , btScalar(-0.499997),btScalar(0.525736)), +btVector3(btScalar(-0.262869) , btScalar(-0.809012),btScalar(0.525738)), +btVector3(btScalar(-0.850648) , btScalar(0.000000),btScalar(0.525736)), +btVector3(btScalar(-0.262869) , btScalar(0.809012),btScalar(0.525738)), +btVector3(btScalar(0.688190) , btScalar(0.499997),btScalar(0.525736)), +btVector3(btScalar(0.525730) , btScalar(0.000000),btScalar(0.850652)), +btVector3(btScalar(0.162456) , btScalar(-0.499995),btScalar(0.850654)), +btVector3(btScalar(-0.425323) , btScalar(-0.309011),btScalar(0.850654)), +btVector3(btScalar(-0.425323) , btScalar(0.309011),btScalar(0.850654)), +btVector3(btScalar(0.162456) , btScalar(0.499995),btScalar(0.850654)) }; @@ -78,6 +78,9 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s ) { + (void)stackAlloc; + (void)v; + struct btIntermediateResult : public btDiscreteCollisionDetectorInterface::Result { @@ -88,13 +91,17 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s btVector3 m_normalOnBInWorld; btVector3 m_pointInWorld; - float m_depth; + btScalar m_depth; bool m_hasResult; virtual void setShapeIdentifiers(int partId0,int index0, int partId1,int index1) { + (void)partId0; + (void)index0; + (void)partId1; + (void)index1; } - void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,float depth) + void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth) { m_normalOnBInWorld = normalOnBInWorld; m_pointInWorld = pointInWorld; @@ -104,7 +111,7 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s }; //just take fixed number of orientation, and sample the penetration depth in that direction - float minProj = 1e30f; + btScalar minProj = btScalar(1e30); btVector3 minNorm; btVector3 minVertex; btVector3 minA,minB; @@ -180,7 +187,7 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s pWorld = transA(pInA); qWorld = transB(qInB); w = qWorld - pWorld; - float delta = norm.dot(w); + btScalar delta = norm.dot(w); //find smallest delta if (delta < minProj) { @@ -234,7 +241,7 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s pWorld = transA(pInA); qWorld = transB(qInB); w = qWorld - pWorld; - float delta = norm.dot(w); + btScalar delta = norm.dot(w); //find smallest delta if (delta < minProj) { @@ -251,7 +258,7 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s minA += minNorm*convexA->getMargin(); minB -= minNorm*convexB->getMargin(); //no penetration - if (minProj < 0.f) + if (minProj < btScalar(0.)) return false; minProj += (convexA->getMargin() + convexB->getMargin()); @@ -268,7 +275,7 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s debugDraw->drawLine(minA,minB,color); color = btVector3 (1,1,1); btVector3 vec = minB-minA; - float prj2 = minNorm.dot(vec); + btScalar prj2 = minNorm.dot(vec); debugDraw->drawLine(minA,minA+(minNorm*minProj),color); } @@ -292,16 +299,16 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s input.m_transformA = displacedTrans; input.m_transformB = transB; - input.m_maximumDistanceSquared = 1e30f;//minProj; + input.m_maximumDistanceSquared = btScalar(1e30);//minProj; btIntermediateResult res; gjkdet.getClosestPoints(input,res,debugDraw); - float correctedMinNorm = minProj - res.m_depth; + btScalar correctedMinNorm = minProj - res.m_depth; //the penetration depth is over-estimated, relax it - float penetration_relaxation= 1.f; + btScalar penetration_relaxation= btScalar(1.); minNorm*=penetration_relaxation; if (res.m_hasResult) |