diff options
Diffstat (limited to 'extern')
13 files changed, 59 insertions, 52 deletions
diff --git a/extern/bullet/Bullet/Bullet3_vc7.vcproj b/extern/bullet/Bullet/Bullet3_vc7.vcproj index dab745810a0..fcfc0ffb2ff 100644 --- a/extern/bullet/Bullet/Bullet3_vc7.vcproj +++ b/extern/bullet/Bullet/Bullet3_vc7.vcproj @@ -391,6 +391,9 @@ ECHO Done RelativePath="..\LinearMath\GEN_random.h"> </File> <File + RelativePath="..\LinearMath\IDebugDraw.h"> + </File> + <File RelativePath="..\LinearMath\SimdMatrix3x3.h"> </File> <File diff --git a/extern/bullet/Bullet/CollisionShapes/BoxShape.cpp b/extern/bullet/Bullet/CollisionShapes/BoxShape.cpp index 0fa063a2e17..37552194df0 100644 --- a/extern/bullet/Bullet/CollisionShapes/BoxShape.cpp +++ b/extern/bullet/Bullet/CollisionShapes/BoxShape.cpp @@ -33,8 +33,8 @@ void BoxShape::GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& //todo: this is a quick fix, we need to enlarge the aabb dependent on several criteria -// SimdVector3 extra(1,1,1); -// extent += extra; + SimdVector3 extra(CONVEX_DISTANCE_MARGIN,CONVEX_DISTANCE_MARGIN,CONVEX_DISTANCE_MARGIN); + extent += extra; aabbMin = center - extent; aabbMax = center + extent; diff --git a/extern/bullet/Bullet/CollisionShapes/ConvexShape.cpp b/extern/bullet/Bullet/CollisionShapes/ConvexShape.cpp index f2afb338166..d6bf5dba5b3 100644 --- a/extern/bullet/Bullet/CollisionShapes/ConvexShape.cpp +++ b/extern/bullet/Bullet/CollisionShapes/ConvexShape.cpp @@ -33,12 +33,15 @@ void ConvexShape::setLocalScaling(const SimdVector3& scaling) void ConvexShape::GetAabbSlow(const SimdTransform& trans,SimdVector3&minAabb,SimdVector3&maxAabb) const { - SimdScalar margin = 0.05f; + SimdScalar margin = GetMargin(); for (int i=0;i<3;i++) { SimdVector3 vec(0.f,0.f,0.f); vec[i] = 1.f; - SimdVector3 tmp = trans(LocalGetSupportingVertex(vec*trans.getBasis())); + + SimdVector3 sv = LocalGetSupportingVertex(vec*trans.getBasis()); + + SimdVector3 tmp = trans(sv); maxAabb[i] = tmp[i]+margin; vec[i] = -1.f; tmp = trans(LocalGetSupportingVertex(vec*trans.getBasis())); diff --git a/extern/bullet/Bullet/CollisionShapes/StridingMeshInterface.cpp b/extern/bullet/Bullet/CollisionShapes/StridingMeshInterface.cpp index bb0e7e29984..b5194200a37 100644 --- a/extern/bullet/Bullet/CollisionShapes/StridingMeshInterface.cpp +++ b/extern/bullet/Bullet/CollisionShapes/StridingMeshInterface.cpp @@ -13,4 +13,4 @@ StridingMeshInterface::~StridingMeshInterface() { -}
\ No newline at end of file +} diff --git a/extern/bullet/Bullet/CollisionShapes/TriangleMeshShape.cpp b/extern/bullet/Bullet/CollisionShapes/TriangleMeshShape.cpp index c9c7a73b932..fb7b364b1e6 100644 --- a/extern/bullet/Bullet/CollisionShapes/TriangleMeshShape.cpp +++ b/extern/bullet/Bullet/CollisionShapes/TriangleMeshShape.cpp @@ -13,12 +13,13 @@ #include "SimdQuaternion.h" #include "StridingMeshInterface.h" #include "AabbUtil2.h" +#include "NarrowPhaseCollision/CollisionMargin.h" TriangleMeshShape::TriangleMeshShape(StridingMeshInterface* meshInterface) : m_meshInterface(meshInterface), -m_collisionMargin(0.1f) +m_collisionMargin(CONVEX_DISTANCE_MARGIN) { } diff --git a/extern/bullet/BulletDynamics/CollisionDispatch/ConvexConcaveCollisionAlgorithm.cpp b/extern/bullet/BulletDynamics/CollisionDispatch/ConvexConcaveCollisionAlgorithm.cpp index 6a815cb3113..54cbd6ca5d6 100644 --- a/extern/bullet/BulletDynamics/CollisionDispatch/ConvexConcaveCollisionAlgorithm.cpp +++ b/extern/bullet/BulletDynamics/CollisionDispatch/ConvexConcaveCollisionAlgorithm.cpp @@ -115,7 +115,7 @@ void BoxTriangleCallback::SetTimeStepAndCounters(float timeStep,int stepCount,fl boxBody->GetCollisionShape()->GetAabb(boxInTriangleSpace,m_aabbMin,m_aabbMax); - float extraMargin = CONVEX_DISTANCE_MARGIN+0.1f; + float extraMargin = CONVEX_DISTANCE_MARGIN;//+0.1f; SimdVector3 extra(extraMargin,extraMargin,extraMargin); @@ -133,7 +133,6 @@ void ConvexConcaveCollisionAlgorithm::ClearCache() void ConvexConcaveCollisionAlgorithm::ProcessCollision (BroadphaseProxy* ,BroadphaseProxy* ,float timeStep,int stepCount,bool useContinuous) { - if (m_concave.GetClientObjectType() == TRIANGLE_MESH_SHAPE_PROXYTYPE) { diff --git a/extern/bullet/BulletDynamics/CollisionDispatch/ToiContactDispatcher.cpp b/extern/bullet/BulletDynamics/CollisionDispatch/ToiContactDispatcher.cpp index ec566349bad..a67da9bc889 100644 --- a/extern/bullet/BulletDynamics/CollisionDispatch/ToiContactDispatcher.cpp +++ b/extern/bullet/BulletDynamics/CollisionDispatch/ToiContactDispatcher.cpp @@ -163,7 +163,7 @@ void ToiContactDispatcher::SolveConstraints(float timeStep, int numIterations,in info.m_numIterations = numIterations; info.m_timeStep = timeStep; info.m_tau = 0.4f; - info.m_restitution = 0.1f;//m_restitution; + info.m_restitution = 0.0f;//m_restitution; m_solver->SolveGroup( &islandmanifold[0], islandmanifold.size(),info,debugDrawer ); diff --git a/extern/bullet/BulletDynamics/ConstraintSolver/ContactConstraint.cpp b/extern/bullet/BulletDynamics/ConstraintSolver/ContactConstraint.cpp index a23d5c13f7f..1bd9a39db97 100644 --- a/extern/bullet/BulletDynamics/ConstraintSolver/ContactConstraint.cpp +++ b/extern/bullet/BulletDynamics/ConstraintSolver/ContactConstraint.cpp @@ -22,7 +22,7 @@ static SimdScalar ContactThreshold = -10.0f; float useGlobalSettingContacts = false;//true; -SimdScalar contactDamping = 0.9f; +SimdScalar contactDamping = 0.2f; SimdScalar contactTau = .02f;//0.02f;//*0.02f; diff --git a/extern/bullet/BulletDynamics/Dynamics/ContactJoint.cpp b/extern/bullet/BulletDynamics/Dynamics/ContactJoint.cpp index 7ac19a6d6a2..b0f26a343d5 100644 --- a/extern/bullet/BulletDynamics/Dynamics/ContactJoint.cpp +++ b/extern/bullet/BulletDynamics/Dynamics/ContactJoint.cpp @@ -150,7 +150,7 @@ void ContactJoint::GetInfo2(Info2 *info) c2[1] = ccc2[1]; c2[2] = ccc2[2]; - float friction = m_body0->getFriction() * m_body1->getFriction(); + float friction = 20.f*m_body0->getFriction() * m_body1->getFriction(); // first friction direction if (m_numRows >= 2) diff --git a/extern/bullet/BulletDynamics/Dynamics/RigidBody.cpp b/extern/bullet/BulletDynamics/Dynamics/RigidBody.cpp index 31d20930a10..a217291c756 100644 --- a/extern/bullet/BulletDynamics/Dynamics/RigidBody.cpp +++ b/extern/bullet/BulletDynamics/Dynamics/RigidBody.cpp @@ -26,8 +26,8 @@ RigidBody::RigidBody( const MassProps& massProps,SimdScalar linearDamping,SimdSc setMassProps(massProps.m_mass, massProps.m_inertiaLocal); setDamping(linearDamping, angularDamping); - updateInertiaTensor(); m_worldTransform.setIdentity(); + updateInertiaTensor(); } diff --git a/extern/bullet/BulletDynamics/Dynamics/RigidBody.h b/extern/bullet/BulletDynamics/Dynamics/RigidBody.h index 527e37bc57d..4a61be786ca 100644 --- a/extern/bullet/BulletDynamics/Dynamics/RigidBody.h +++ b/extern/bullet/BulletDynamics/Dynamics/RigidBody.h @@ -147,7 +147,7 @@ private: SimdVector3 m_invInertiaLocal; SimdVector3 m_totalForce; SimdVector3 m_totalTorque; - SimdQuaternion m_orn1; +// SimdQuaternion m_orn1; SimdVector3 m_linearVelocity; diff --git a/extern/bullet/make/msvc_7_0/Bullet3_vc7.vcproj b/extern/bullet/make/msvc_7_0/Bullet3_vc7.vcproj index ef833e9bc48..2cf74551745 100644 --- a/extern/bullet/make/msvc_7_0/Bullet3_vc7.vcproj +++ b/extern/bullet/make/msvc_7_0/Bullet3_vc7.vcproj @@ -1,7 +1,7 @@ <?xml version="1.0" encoding="Windows-1252"?> <VisualStudioProject ProjectType="Visual C++" - Version="7.0" + Version="7.10" Name="Bullet3ContinuousCollision" ProjectGUID="{FFD3C64A-30E2-4BC7-BC8F-51818C320400}" SccProjectName="" @@ -39,22 +39,22 @@ Name="VCCustomBuildTool"/> <Tool Name="VCLibrarianTool" - OutputFile="..\..\..\..\..\..\build\msvc_7\libs\extern\debug\Bullet.lib" + OutputFile="..\..\..\..\..\build\msvc_7\libs\extern\debug\Bullet.lib" SuppressStartupBanner="TRUE"/> <Tool Name="VCMIDLTool"/> <Tool Name="VCPostBuildEventTool" CommandLine="ECHO Copying header files -IF NOT EXIST ..\..\..\..\..\..\build\msvc_7\extern\bullet\include MKDIR ..\..\..\..\..\..\build\msvc_7\extern\bullet\include -IF NOT EXIST ..\..\..\..\..\..\build\msvc_7\extern\bullet\include\BroadphaseCollision MKDIR ..\..\..\..\..\..\build\msvc_7\extern\bullet\include\BroadphaseCollision -IF NOT EXIST ..\..\..\..\..\..\build\msvc_7\extern\bullet\include\CollisionShapes MKDIR ..\..\..\..\..\..\build\msvc_7\extern\bullet\include\CollisionShapes -IF NOT EXIST ..\..\..\..\..\..\build\msvc_7\extern\bullet\include\NarrowPhaseCollision MKDIR ..\..\..\..\..\..\build\msvc_7\extern\bullet\include\NarrowPhaseCollision +IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet\include MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include +IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet\include\BroadphaseCollision MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\BroadphaseCollision +IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet\include\CollisionShapes MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\CollisionShapes +IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet\include\NarrowPhaseCollision MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\NarrowPhaseCollision -XCOPY /Y ..\..\LinearMath\*.h ..\..\..\..\..\..\build\msvc_7\extern\bullet\include -XCOPY /Y ..\..\Bullet\BroadphaseCollision\*.h ..\..\..\..\..\..\build\msvc_7\extern\bullet\include\BroadphaseCollision -XCOPY /Y ..\..\Bullet\CollisionShapes\*.h ..\..\..\..\..\..\build\msvc_7\extern\bullet\include\CollisionShapes -XCOPY /Y ..\..\Bullet\NarrowPhaseCollision\*.h ..\..\..\..\..\..\build\msvc_7\extern\bullet\include\NarrowPhaseCollision +XCOPY /Y ..\..\LinearMath\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include +XCOPY /Y ..\..\Bullet\BroadphaseCollision\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\BroadphaseCollision +XCOPY /Y ..\..\Bullet\CollisionShapes\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\CollisionShapes +XCOPY /Y ..\..\Bullet\NarrowPhaseCollision\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\NarrowPhaseCollision ECHO Done "/> @@ -105,22 +105,22 @@ ECHO Done Name="VCCustomBuildTool"/> <Tool Name="VCLibrarianTool" - OutputFile="..\..\..\..\..\..\build\msvc_7\libs\extern\Bullet.lib" + OutputFile="..\..\..\..\..\build\msvc_7\libs\extern\Bullet.lib" SuppressStartupBanner="TRUE"/> <Tool Name="VCMIDLTool"/> <Tool Name="VCPostBuildEventTool" CommandLine="ECHO Copying header files -IF NOT EXIST ..\..\..\..\..\..\build\msvc_7\extern\bullet\include MKDIR ..\..\..\..\..\..\build\msvc_7\extern\bullet\include -IF NOT EXIST ..\..\..\..\..\..\build\msvc_7\extern\bullet\include\BroadphaseCollision MKDIR ..\..\..\..\..\..\build\msvc_7\extern\bullet\include\BroadphaseCollision -IF NOT EXIST ..\..\..\..\..\..\build\msvc_7\extern\bullet\include\CollisionShapes MKDIR ..\..\..\..\..\..\build\msvc_7\extern\bullet\include\CollisionShapes -IF NOT EXIST ..\..\..\..\..\..\build\msvc_7\extern\bullet\include\NarrowPhaseCollision MKDIR ..\..\..\..\..\..\build\msvc_7\extern\bullet\include\NarrowPhaseCollision +IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet\include MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include +IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet\include\BroadphaseCollision MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\BroadphaseCollision +IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet\include\CollisionShapes MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\CollisionShapes +IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet\include\NarrowPhaseCollision MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\NarrowPhaseCollision -XCOPY /Y ..\..\LinearMath\*.h ..\..\..\..\..\..\build\msvc_7\extern\bullet\include -XCOPY /Y ..\..\Bullet\BroadphaseCollision\*.h ..\..\..\..\..\..\build\msvc_7\extern\bullet\include\BroadphaseCollision -XCOPY /Y ..\..\Bullet\CollisionShapes\*.h ..\..\..\..\..\..\build\msvc_7\extern\bullet\include\CollisionShapes -XCOPY /Y ..\..\Bullet\NarrowPhaseCollision\*.h ..\..\..\..\..\..\build\msvc_7\extern\bullet\include\NarrowPhaseCollision +XCOPY /Y ..\..\LinearMath\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include +XCOPY /Y ..\..\Bullet\BroadphaseCollision\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\BroadphaseCollision +XCOPY /Y ..\..\Bullet\CollisionShapes\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\CollisionShapes +XCOPY /Y ..\..\Bullet\NarrowPhaseCollision\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\NarrowPhaseCollision ECHO Done "/> @@ -176,15 +176,15 @@ ECHO Done <Tool Name="VCPostBuildEventTool" CommandLine="ECHO Copying header files -IF NOT EXIST ..\..\..\..\..\..\build\msvc_7\extern\bullet\include MKDIR ..\..\..\..\..\..\build\msvc_7\extern\bullet\include -IF NOT EXIST ..\..\..\..\..\..\build\msvc_7\extern\bullet\include\BroadphaseCollision MKDIR ..\..\..\..\..\..\build\msvc_7\extern\bullet\include\BroadphaseCollision -IF NOT EXIST ..\..\..\..\..\..\build\msvc_7\extern\bullet\include\CollisionShapes MKDIR ..\..\..\..\..\..\build\msvc_7\extern\bullet\include\CollisionShapes -IF NOT EXIST ..\..\..\..\..\..\build\msvc_7\extern\bullet\include\NarrowPhaseCollision MKDIR ..\..\..\..\..\..\build\msvc_7\extern\bullet\include\NarrowPhaseCollision +IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet\include MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include +IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet\include\BroadphaseCollision MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\BroadphaseCollision +IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet\include\CollisionShapes MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\CollisionShapes +IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet\include\NarrowPhaseCollision MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\NarrowPhaseCollision -XCOPY /Y ..\..\LinearMath\*.h ..\..\..\..\..\..\build\msvc_7\extern\bullet\include -XCOPY /Y ..\..\Bullet\BroadphaseCollision\*.h ..\..\..\..\..\..\build\msvc_7\extern\bullet\include\BroadphaseCollision -XCOPY /Y ..\..\Bullet\CollisionShapes\*.h ..\..\..\..\..\..\build\msvc_7\extern\bullet\include\CollisionShapes -XCOPY /Y ..\..\Bullet\NarrowPhaseCollision\*.h ..\..\..\..\..\..\build\msvc_7\extern\bullet\include\NarrowPhaseCollision +XCOPY /Y ..\..\LinearMath\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include +XCOPY /Y ..\..\Bullet\BroadphaseCollision\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\BroadphaseCollision +XCOPY /Y ..\..\Bullet\CollisionShapes\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\CollisionShapes +XCOPY /Y ..\..\Bullet\NarrowPhaseCollision\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\NarrowPhaseCollision ECHO Done "/> @@ -242,18 +242,17 @@ ECHO Done <Tool Name="VCPostBuildEventTool" CommandLine="ECHO Copying header files -IF NOT EXIST ..\..\..\..\..\..\build\msvc_7\extern\bullet\include MKDIR ..\..\..\..\..\..\build\msvc_7\extern\bullet\include -IF NOT EXIST ..\..\..\..\..\..\build\msvc_7\extern\bullet\include\BroadphaseCollision MKDIR ..\..\..\..\..\..\build\msvc_7\extern\bullet\include\BroadphaseCollision -IF NOT EXIST ..\..\..\..\..\..\build\msvc_7\extern\bullet\include\CollisionShapes MKDIR ..\..\..\..\..\..\build\msvc_7\extern\bullet\include\CollisionShapes -IF NOT EXIST ..\..\..\..\..\..\build\msvc_7\extern\bullet\include\NarrowPhaseCollision MKDIR ..\..\..\..\..\..\build\msvc_7\extern\bullet\include\NarrowPhaseCollision +IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet\include MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include +IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet\include\BroadphaseCollision MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\BroadphaseCollision +IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet\include\CollisionShapes MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\CollisionShapes +IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet\include\NarrowPhaseCollision MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\NarrowPhaseCollision -XCOPY /Y ..\..\LinearMath\*.h ..\..\..\..\..\..\build\msvc_7\extern\bullet\include -XCOPY /Y ..\..\Bullet\BroadphaseCollision\*.h ..\..\..\..\..\..\build\msvc_7\extern\bullet\include\BroadphaseCollision -XCOPY /Y ..\..\Bullet\CollisionShapes\*.h ..\..\..\..\..\..\build\msvc_7\extern\bullet\include\CollisionShapes -XCOPY /Y ..\..\Bullet\NarrowPhaseCollision\*.h ..\..\..\..\..\..\build\msvc_7\extern\bullet\include\NarrowPhaseCollision +XCOPY /Y ..\..\LinearMath\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include +XCOPY /Y ..\..\Bullet\BroadphaseCollision\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\BroadphaseCollision +XCOPY /Y ..\..\Bullet\CollisionShapes\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\CollisionShapes +XCOPY /Y ..\..\Bullet\NarrowPhaseCollision\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\NarrowPhaseCollision ECHO Done - "/> <Tool Name="VCPreBuildEventTool"/> @@ -273,7 +272,8 @@ ECHO Done Name="VCAuxiliaryManagedWrapperGeneratorTool"/> </Configuration> </Configurations> - + <References> + </References> <Files> <Filter Name="NarrowPhaseCollision" diff --git a/extern/bullet/make/msvc_7_0/Dynamics/BulletDynamics_vc7.vcproj b/extern/bullet/make/msvc_7_0/Dynamics/BulletDynamics_vc7.vcproj index 7f35ad4b2e5..1618c4cb0be 100644 --- a/extern/bullet/make/msvc_7_0/Dynamics/BulletDynamics_vc7.vcproj +++ b/extern/bullet/make/msvc_7_0/Dynamics/BulletDynamics_vc7.vcproj @@ -1,7 +1,7 @@ <?xml version="1.0" encoding="Windows-1252"?> <VisualStudioProject ProjectType="Visual C++" - Version="7.0" + Version="7.10" Name="Bullet3Dynamics" ProjectGUID="{3427A9EF-FF84-4B3E-9AE5-C37CF44D7DA4}" Keyword="Win32Proj"> @@ -241,7 +241,8 @@ ECHO Done Name="VCAuxiliaryManagedWrapperGeneratorTool"/> </Configuration> </Configurations> - + <References> + </References> <Files> <Filter Name="ConstraintSolver" |