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Synchronized Bullet physics to latest version.

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- Changed license from MIT to ZLib.
- Added 3D Sweep and Prune contribution
- More stable native constraint solver

Sorry for any inconvenience caused by this checkin.
All Blender buildsystems require update: added files and moved files.
This commit is contained in:
Erwin Coumans
2006-03-27 06:37:30 +00:00
parent 75ce4ca859
commit af9573e9ea
163 changed files with 3671 additions and 1605 deletions
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32
extern/bullet/Bullet/CollisionDispatch/ConvexConvexAlgorithm.cpp vendored
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@@ -1,19 +1,24 @@
/*
* Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
*
* Permission to use, copy, modify, distribute and sell this software
* and its documentation for any purpose is hereby granted without fee,
* provided that the above copyright notice appear in all copies.
* Erwin Coumans makes no representations about the suitability
* of this software for any purpose.
* It is provided "as is" without express or implied warranty.
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.
*/
#include "ConvexConvexAlgorithm.h"
#include <stdio.h>
#include "NarrowPhaseCollision/DiscreteCollisionDetectorInterface.h"
#include "BroadphaseCollision/BroadphaseInterface.h"
#include "NarrowPhaseCollision/CollisionObject.h"
#include "CollisionDispatch/CollisionObject.h"
#include "CollisionShapes/ConvexShape.h"
#include "NarrowPhaseCollision/GjkPairDetector.h"
#include "BroadphaseCollision/BroadphaseProxy.h"
@@ -66,12 +71,12 @@ bool gDisableConvexCollision = false;
ConvexConvexAlgorithm::ConvexConvexAlgorithm(PersistentManifold* mf,const CollisionAlgorithmConstructionInfo& ci,BroadphaseProxy* proxy0,BroadphaseProxy* proxy1)
: CollisionAlgorithm(ci),
m_gjkPairDetector(0,0,&m_simplexSolver,0),
m_useEpa(!gUseEpa),
m_box0(*proxy0),
m_box1(*proxy1),
m_ownManifold (false),
m_manifoldPtr(mf),
m_lowLevelOfDetail(false),
m_useEpa(!gUseEpa)
m_lowLevelOfDetail(false)
{
CheckPenetrationDepthSolver();
@@ -178,7 +183,7 @@ void ConvexConvexAlgorithm ::ProcessCollision (BroadphaseProxy* ,BroadphaseProxy
CollisionObject* col0 = static_cast<CollisionObject*>(m_box0.m_clientObject);
CollisionObject* col1 = static_cast<CollisionObject*>(m_box1.m_clientObject);
ManifoldResult output(col0,col1,m_manifoldPtr);
ManifoldResult* resultOut = m_dispatcher->GetNewManifoldResult(col0,col1,m_manifoldPtr);
ConvexShape* min0 = static_cast<ConvexShape*>(col0->m_collisionShape);
ConvexShape* min1 = static_cast<ConvexShape*>(col1->m_collisionShape);
@@ -209,8 +214,9 @@ void ConvexConvexAlgorithm ::ProcessCollision (BroadphaseProxy* ,BroadphaseProxy
input.m_transformA = col0->m_worldTransform;
input.m_transformB = col1->m_worldTransform;
m_gjkPairDetector.GetClosestPoints(input,output);
m_gjkPairDetector.GetClosestPoints(input,*resultOut);
m_dispatcher->ReleaseManifoldResult(resultOut);
}
bool disableCcd = false;
float ConvexConvexAlgorithm::CalculateTimeOfImpact(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,float timeStep,int stepCount)