ruby-bullet 0.0.2-x86-mingw32

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  1. data/INSTALL.md +22 -0
  2. data/LICENSE +23 -0
  3. data/README.md +41 -0
  4. data/Rakefile +131 -0
  5. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btAxisSweep3.i +30 -0
  6. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btBroadphaseInterface.i +8 -0
  7. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btBroadphaseProxy.i +8 -0
  8. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.i +8 -0
  9. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btDbvt.i +10 -0
  10. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btDbvtBroadphase.i +8 -0
  11. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btDispatcher.i +8 -0
  12. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.i +10 -0
  13. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btOverlappingPairCache.i +8 -0
  14. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btOverlappingPairCallback.i +8 -0
  15. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btQuantizedBvh.i +8 -0
  16. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btSimpleBroadphase.i +8 -0
  17. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/local_btAxisSweep3Internal.h +191 -0
  18. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/SphereTriangleDetector.i +8 -0
  19. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.i +8 -0
  20. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.i +8 -0
  21. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.i +8 -0
  22. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btBoxBoxDetector.i +8 -0
  23. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btCollisionConfiguration.i +21 -0
  24. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btCollisionCreateFunc.i +8 -0
  25. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btCollisionDispatcher.i +24 -0
  26. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btCollisionObject.i +8 -0
  27. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btCollisionWorld.i +82 -0
  28. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.i +8 -0
  29. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.i +8 -0
  30. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.i +8 -0
  31. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.i +8 -0
  32. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.i +8 -0
  33. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.i +8 -0
  34. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.i +8 -0
  35. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btGhostObject.i +8 -0
  36. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btInternalEdgeUtility.i +8 -0
  37. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btManifoldResult.i +8 -0
  38. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btSimulationIslandManager.i +8 -0
  39. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.i +8 -0
  40. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.i +8 -0
  41. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.i +8 -0
  42. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btUnionFind.i +10 -0
  43. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btBox2dShape.i +8 -0
  44. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btBoxShape.i +22 -0
  45. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.i +8 -0
  46. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btCapsuleShape.i +8 -0
  47. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btCollisionMargin.i +8 -0
  48. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btCollisionShape.i +8 -0
  49. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btCompoundShape.i +8 -0
  50. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConcaveShape.i +8 -0
  51. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConeShape.i +8 -0
  52. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConvex2dShape.i +8 -0
  53. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConvexHullShape.i +8 -0
  54. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConvexInternalShape.i +8 -0
  55. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConvexPointCloudShape.i +8 -0
  56. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConvexPolyhedron.i +8 -0
  57. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConvexShape.i +8 -0
  58. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.i +8 -0
  59. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btCylinderShape.i +8 -0
  60. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btEmptyShape.i +8 -0
  61. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.i +8 -0
  62. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btMaterial.i +8 -0
  63. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btMinkowskiSumShape.i +8 -0
  64. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btMultiSphereShape.i +8 -0
  65. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.i +8 -0
  66. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btOptimizedBvh.i +8 -0
  67. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btPolyhedralConvexShape.i +8 -0
  68. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.i +8 -0
  69. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btShapeHull.i +8 -0
  70. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btSphereShape.i +8 -0
  71. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btStaticPlaneShape.i +8 -0
  72. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btStridingMeshInterface.i +8 -0
  73. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btTetrahedronShape.i +8 -0
  74. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btTriangleBuffer.i +8 -0
  75. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btTriangleCallback.i +8 -0
  76. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.i +8 -0
  77. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.i +8 -0
  78. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btTriangleInfoMap.i +8 -0
  79. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btTriangleMeshShape.i +8 -0
  80. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btTriangleShape.i +8 -0
  81. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btUniformScalingShape.i +8 -0
  82. data/bindings/bullet/interface/BulletCollision/Gimpact/btBoxCollision.i +8 -0
  83. data/bindings/bullet/interface/BulletCollision/Gimpact/btClipPolygon.i +8 -0
  84. data/bindings/bullet/interface/BulletCollision/Gimpact/btContactProcessing.i +8 -0
  85. data/bindings/bullet/interface/BulletCollision/Gimpact/btGImpactBvh.i +8 -0
  86. data/bindings/bullet/interface/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.i +8 -0
  87. data/bindings/bullet/interface/BulletCollision/Gimpact/btGImpactMassUtil.i +8 -0
  88. data/bindings/bullet/interface/BulletCollision/Gimpact/btGImpactQuantizedBvh.i +8 -0
  89. data/bindings/bullet/interface/BulletCollision/Gimpact/btGImpactShape.i +8 -0
  90. data/bindings/bullet/interface/BulletCollision/Gimpact/btGenericPoolAllocator.i +11 -0
  91. data/bindings/bullet/interface/BulletCollision/Gimpact/btGeometryOperations.i +8 -0
  92. data/bindings/bullet/interface/BulletCollision/Gimpact/btQuantization.i +8 -0
  93. data/bindings/bullet/interface/BulletCollision/Gimpact/btTriangleShapeEx.i +8 -0
  94. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.i +8 -0
  95. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btConvexCast.i +8 -0
  96. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.i +8 -0
  97. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.i +11 -0
  98. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.i +8 -0
  99. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btGjkEpa2.i +8 -0
  100. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.i +8 -0
  101. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.i +8 -0
  102. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btManifoldPoint.i +8 -0
  103. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.i +8 -0
  104. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btPersistentManifold.i +8 -0
  105. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btPointCollector.i +8 -0
  106. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.i +8 -0
  107. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btRaycastCallback.i +8 -0
  108. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.i +8 -0
  109. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.i +8 -0
  110. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.i +8 -0
  111. data/bindings/bullet/interface/BulletDynamics/Character/btCharacterControllerInterface.i +8 -0
  112. data/bindings/bullet/interface/BulletDynamics/Character/btKinematicCharacterController.i +8 -0
  113. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btConeTwistConstraint.i +8 -0
  114. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btConstraintSolver.i +8 -0
  115. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btContactConstraint.i +8 -0
  116. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btContactSolverInfo.i +8 -0
  117. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.i +8 -0
  118. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.i +8 -0
  119. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btHinge2Constraint.i +8 -0
  120. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btHingeConstraint.i +8 -0
  121. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btJacobianEntry.i +8 -0
  122. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.i +8 -0
  123. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.i +21 -0
  124. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btSliderConstraint.i +8 -0
  125. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.i +8 -0
  126. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btSolverBody.i +8 -0
  127. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btSolverConstraint.i +8 -0
  128. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btTypedConstraint.i +8 -0
  129. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btUniversalConstraint.i +8 -0
  130. data/bindings/bullet/interface/BulletDynamics/Dynamics/btActionInterface.i +8 -0
  131. data/bindings/bullet/interface/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.i +23 -0
  132. data/bindings/bullet/interface/BulletDynamics/Dynamics/btDynamicsWorld.i +37 -0
  133. data/bindings/bullet/interface/BulletDynamics/Dynamics/btRigidBody.i +20 -0
  134. data/bindings/bullet/interface/BulletDynamics/Dynamics/btSimpleDynamicsWorld.i +8 -0
  135. data/bindings/bullet/interface/BulletDynamics/Vehicle/btRaycastVehicle.i +12 -0
  136. data/bindings/bullet/interface/BulletDynamics/Vehicle/btVehicleRaycaster.i +8 -0
  137. data/bindings/bullet/interface/BulletDynamics/Vehicle/btWheelInfo.i +8 -0
  138. data/bindings/bullet/interface/BulletSoftBody/btDefaultSoftBodySolver.i +8 -0
  139. data/bindings/bullet/interface/BulletSoftBody/btSoftBody.i +8 -0
  140. data/bindings/bullet/interface/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.i +8 -0
  141. data/bindings/bullet/interface/BulletSoftBody/btSoftBodyData.i +8 -0
  142. data/bindings/bullet/interface/BulletSoftBody/btSoftBodyHelpers.i +8 -0
  143. data/bindings/bullet/interface/BulletSoftBody/btSoftBodyInternals.i +8 -0
  144. data/bindings/bullet/interface/BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.i +8 -0
  145. data/bindings/bullet/interface/BulletSoftBody/btSoftBodySolverVertexBuffer.i +8 -0
  146. data/bindings/bullet/interface/BulletSoftBody/btSoftBodySolvers.i +8 -0
  147. data/bindings/bullet/interface/BulletSoftBody/btSoftRigidCollisionAlgorithm.i +8 -0
  148. data/bindings/bullet/interface/BulletSoftBody/btSoftRigidDynamicsWorld.i +8 -0
  149. data/bindings/bullet/interface/BulletSoftBody/btSoftSoftCollisionAlgorithm.i +8 -0
  150. data/bindings/bullet/interface/BulletSoftBody/btSparseSDF.i +8 -0
  151. data/bindings/bullet/interface/LinearMath/btAabbUtil2.i +8 -0
  152. data/bindings/bullet/interface/LinearMath/btAlignedAllocator.i +8 -0
  153. data/bindings/bullet/interface/LinearMath/btAlignedObjectArray.i +8 -0
  154. data/bindings/bullet/interface/LinearMath/btConvexHull.i +8 -0
  155. data/bindings/bullet/interface/LinearMath/btConvexHullComputer.i +8 -0
  156. data/bindings/bullet/interface/LinearMath/btDefaultMotionState.i +10 -0
  157. data/bindings/bullet/interface/LinearMath/btGeometryUtil.i +10 -0
  158. data/bindings/bullet/interface/LinearMath/btGrahamScan2dConvexHull.i +8 -0
  159. data/bindings/bullet/interface/LinearMath/btHashMap.i +8 -0
  160. data/bindings/bullet/interface/LinearMath/btIDebugDraw.i +10 -0
  161. data/bindings/bullet/interface/LinearMath/btList.i +8 -0
  162. data/bindings/bullet/interface/LinearMath/btMatrix3x3.i +8 -0
  163. data/bindings/bullet/interface/LinearMath/btMinMax.i +8 -0
  164. data/bindings/bullet/interface/LinearMath/btMotionState.i +10 -0
  165. data/bindings/bullet/interface/LinearMath/btPoolAllocator.i +10 -0
  166. data/bindings/bullet/interface/LinearMath/btQuadWord.i +8 -0
  167. data/bindings/bullet/interface/LinearMath/btQuaternion.i +60 -0
  168. data/bindings/bullet/interface/LinearMath/btQuickprof.i +10 -0
  169. data/bindings/bullet/interface/LinearMath/btRandom.i +8 -0
  170. data/bindings/bullet/interface/LinearMath/btScalar.i +8 -0
  171. data/bindings/bullet/interface/LinearMath/btSerializer.i +10 -0
  172. data/bindings/bullet/interface/LinearMath/btStackAlloc.i +10 -0
  173. data/bindings/bullet/interface/LinearMath/btTransform.i +8 -0
  174. data/bindings/bullet/interface/LinearMath/btTransformUtil.i +8 -0
  175. data/bindings/bullet/interface/LinearMath/btVector3.i +42 -0
  176. data/bindings/bullet/interface/Makefile +19 -0
  177. data/bindings/bullet/interface/bullet.i +9 -0
  178. data/bindings/bullet/interface/bullet_all.i +186 -0
  179. data/bindings/bullet/interface/bullet_wrap.cpp +194161 -0
  180. data/bindings/bullet/interface/bullet_wrap.h +106 -0
  181. data/bindings/bullet/interface/bullet_wrap.o +0 -0
  182. data/bindings/bullet/src/TickListener.h +22 -0
  183. data/deps/include/bullet/Bullet-C-Api.h +176 -0
  184. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btAxisSweep3.cpp +37 -0
  185. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btAxisSweep3.h +1051 -0
  186. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btBroadphaseInterface.h +82 -0
  187. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btBroadphaseProxy.cpp +17 -0
  188. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h +270 -0
  189. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.cpp +23 -0
  190. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h +80 -0
  191. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btDbvt.cpp +1295 -0
  192. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btDbvt.h +1257 -0
  193. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp +796 -0
  194. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h +146 -0
  195. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btDispatcher.cpp +22 -0
  196. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btDispatcher.h +110 -0
  197. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.cpp +489 -0
  198. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.h +151 -0
  199. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp +633 -0
  200. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h +469 -0
  201. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h +40 -0
  202. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp +1375 -0
  203. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btQuantizedBvh.h +579 -0
  204. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp +349 -0
  205. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h +171 -0
  206. data/deps/include/bullet/BulletCollision/CMakeFiles/BulletCollision.dir/BroadphaseCollision/btAxisSweep3.obj +0 -0
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  209. data/deps/include/bullet/BulletCollision/CMakeFiles/BulletCollision.dir/BroadphaseCollision/btDbvt.obj +0 -0
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  212. data/deps/include/bullet/BulletCollision/CMakeFiles/BulletCollision.dir/BroadphaseCollision/btMultiSapBroadphase.obj +0 -0
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  229. data/deps/include/bullet/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionDispatch/btConvexPlaneCollisionAlgorithm.obj +0 -0
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  943. metadata +987 -0
@@ -0,0 +1,75 @@
1
+ /*
2
+ Bullet Continuous Collision Detection and Physics Library
3
+ Copyright (c) 2003-2008 Erwin Coumans http://continuousphysics.com/Bullet/
4
+
5
+ This software is provided 'as-is', without any express or implied warranty.
6
+ In no event will the authors be held liable for any damages arising from the
7
+ use of this software.
8
+ Permission is granted to anyone to use this software for any purpose,
9
+ including commercial applications, and to alter it and redistribute it
10
+ freely,
11
+ subject to the following restrictions:
12
+
13
+ 1. The origin of this software must not be misrepresented; you must not
14
+ claim that you wrote the original software. If you use this software in a
15
+ product, an acknowledgment in the product documentation would be appreciated
16
+ but is not required.
17
+ 2. Altered source versions must be plainly marked as such, and must not be
18
+ misrepresented as being the original software.
19
+ 3. This notice may not be removed or altered from any source distribution.
20
+ */
21
+
22
+ /*
23
+ GJK-EPA collision solver by Nathanael Presson, 2008
24
+ */
25
+ #ifndef BT_GJK_EPA2_H
26
+ #define BT_GJK_EPA2_H
27
+
28
+ #include "BulletCollision/CollisionShapes/btConvexShape.h"
29
+
30
+ ///btGjkEpaSolver contributed under zlib by Nathanael Presson
31
+ struct btGjkEpaSolver2
32
+ {
33
+ struct sResults
34
+ {
35
+ enum eStatus
36
+ {
37
+ Separated, /* Shapes doesnt penetrate */
38
+ Penetrating, /* Shapes are penetrating */
39
+ GJK_Failed, /* GJK phase fail, no big issue, shapes are probably just 'touching' */
40
+ EPA_Failed /* EPA phase fail, bigger problem, need to save parameters, and debug */
41
+ } status;
42
+ btVector3 witnesses[2];
43
+ btVector3 normal;
44
+ btScalar distance;
45
+ };
46
+
47
+ static int StackSizeRequirement();
48
+
49
+ static bool Distance( const btConvexShape* shape0,const btTransform& wtrs0,
50
+ const btConvexShape* shape1,const btTransform& wtrs1,
51
+ const btVector3& guess,
52
+ sResults& results);
53
+
54
+ static bool Penetration(const btConvexShape* shape0,const btTransform& wtrs0,
55
+ const btConvexShape* shape1,const btTransform& wtrs1,
56
+ const btVector3& guess,
57
+ sResults& results,
58
+ bool usemargins=true);
59
+ #ifndef __SPU__
60
+ static btScalar SignedDistance( const btVector3& position,
61
+ btScalar margin,
62
+ const btConvexShape* shape,
63
+ const btTransform& wtrs,
64
+ sResults& results);
65
+
66
+ static bool SignedDistance( const btConvexShape* shape0,const btTransform& wtrs0,
67
+ const btConvexShape* shape1,const btTransform& wtrs1,
68
+ const btVector3& guess,
69
+ sResults& results);
70
+ #endif //__SPU__
71
+
72
+ };
73
+
74
+ #endif //BT_GJK_EPA2_H
75
+
@@ -0,0 +1,66 @@
1
+ /*
2
+ Bullet Continuous Collision Detection and Physics Library
3
+ Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
4
+
5
+ EPA Copyright (c) Ricardo Padrela 2006
6
+
7
+ This software is provided 'as-is', without any express or implied warranty.
8
+ In no event will the authors be held liable for any damages arising from the use of this software.
9
+ Permission is granted to anyone to use this software for any purpose,
10
+ including commercial applications, and to alter it and redistribute it freely,
11
+ subject to the following restrictions:
12
+
13
+ 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.
14
+ 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
15
+ 3. This notice may not be removed or altered from any source distribution.
16
+ */
17
+
18
+ #include "BulletCollision/CollisionShapes/btConvexShape.h"
19
+ #include "btGjkEpaPenetrationDepthSolver.h"
20
+
21
+
22
+ #include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h"
23
+
24
+ bool btGjkEpaPenetrationDepthSolver::calcPenDepth( btSimplexSolverInterface& simplexSolver,
25
+ const btConvexShape* pConvexA, const btConvexShape* pConvexB,
26
+ const btTransform& transformA, const btTransform& transformB,
27
+ btVector3& v, btVector3& wWitnessOnA, btVector3& wWitnessOnB,
28
+ class btIDebugDraw* debugDraw, btStackAlloc* stackAlloc )
29
+ {
30
+
31
+ (void)debugDraw;
32
+ (void)v;
33
+ (void)simplexSolver;
34
+
35
+ // const btScalar radialmargin(btScalar(0.));
36
+
37
+ btVector3 guessVector(transformA.getOrigin()-transformB.getOrigin());
38
+ btGjkEpaSolver2::sResults results;
39
+
40
+
41
+ if(btGjkEpaSolver2::Penetration(pConvexA,transformA,
42
+ pConvexB,transformB,
43
+ guessVector,results))
44
+
45
+ {
46
+ // debugDraw->drawLine(results.witnesses[1],results.witnesses[1]+results.normal,btVector3(255,0,0));
47
+ //resultOut->addContactPoint(results.normal,results.witnesses[1],-results.depth);
48
+ wWitnessOnA = results.witnesses[0];
49
+ wWitnessOnB = results.witnesses[1];
50
+ v = results.normal;
51
+ return true;
52
+ } else
53
+ {
54
+ if(btGjkEpaSolver2::Distance(pConvexA,transformA,pConvexB,transformB,guessVector,results))
55
+ {
56
+ wWitnessOnA = results.witnesses[0];
57
+ wWitnessOnB = results.witnesses[1];
58
+ v = results.normal;
59
+ return false;
60
+ }
61
+ }
62
+
63
+ return false;
64
+ }
65
+
66
+
@@ -0,0 +1,43 @@
1
+ /*
2
+ Bullet Continuous Collision Detection and Physics Library
3
+ Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
4
+
5
+ EPA Copyright (c) Ricardo Padrela 2006
6
+
7
+ This software is provided 'as-is', without any express or implied warranty.
8
+ In no event will the authors be held liable for any damages arising from the use of this software.
9
+ Permission is granted to anyone to use this software for any purpose,
10
+ including commercial applications, and to alter it and redistribute it freely,
11
+ subject to the following restrictions:
12
+
13
+ 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.
14
+ 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
15
+ 3. This notice may not be removed or altered from any source distribution.
16
+ */
17
+ #ifndef BT_GJP_EPA_PENETRATION_DEPTH_H
18
+ #define BT_GJP_EPA_PENETRATION_DEPTH_H
19
+
20
+ #include "btConvexPenetrationDepthSolver.h"
21
+
22
+ ///EpaPenetrationDepthSolver uses the Expanding Polytope Algorithm to
23
+ ///calculate the penetration depth between two convex shapes.
24
+ class btGjkEpaPenetrationDepthSolver : public btConvexPenetrationDepthSolver
25
+ {
26
+ public :
27
+
28
+ btGjkEpaPenetrationDepthSolver()
29
+ {
30
+ }
31
+
32
+ bool calcPenDepth( btSimplexSolverInterface& simplexSolver,
33
+ const btConvexShape* pConvexA, const btConvexShape* pConvexB,
34
+ const btTransform& transformA, const btTransform& transformB,
35
+ btVector3& v, btVector3& wWitnessOnA, btVector3& wWitnessOnB,
36
+ class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc );
37
+
38
+ private :
39
+
40
+ };
41
+
42
+ #endif // BT_GJP_EPA_PENETRATION_DEPTH_H
43
+
@@ -0,0 +1,457 @@
1
+ /*
2
+ Bullet Continuous Collision Detection and Physics Library
3
+ Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
4
+
5
+ This software is provided 'as-is', without any express or implied warranty.
6
+ In no event will the authors be held liable for any damages arising from the use of this software.
7
+ Permission is granted to anyone to use this software for any purpose,
8
+ including commercial applications, and to alter it and redistribute it freely,
9
+ subject to the following restrictions:
10
+
11
+ 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.
12
+ 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13
+ 3. This notice may not be removed or altered from any source distribution.
14
+ */
15
+
16
+ #include "btGjkPairDetector.h"
17
+ #include "BulletCollision/CollisionShapes/btConvexShape.h"
18
+ #include "BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h"
19
+ #include "BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h"
20
+
21
+
22
+
23
+ #if defined(DEBUG) || defined (_DEBUG)
24
+ //#define TEST_NON_VIRTUAL 1
25
+ #include <stdio.h> //for debug printf
26
+ #ifdef __SPU__
27
+ #include <spu_printf.h>
28
+ #define printf spu_printf
29
+ //#define DEBUG_SPU_COLLISION_DETECTION 1
30
+ #endif //__SPU__
31
+ #endif
32
+
33
+ //must be above the machine epsilon
34
+ #define REL_ERROR2 btScalar(1.0e-6)
35
+
36
+ //temp globals, to improve GJK/EPA/penetration calculations
37
+ int gNumDeepPenetrationChecks = 0;
38
+ int gNumGjkChecks = 0;
39
+
40
+
41
+ btGjkPairDetector::btGjkPairDetector(const btConvexShape* objectA,const btConvexShape* objectB,btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver* penetrationDepthSolver)
42
+ :m_cachedSeparatingAxis(btScalar(0.),btScalar(1.),btScalar(0.)),
43
+ m_penetrationDepthSolver(penetrationDepthSolver),
44
+ m_simplexSolver(simplexSolver),
45
+ m_minkowskiA(objectA),
46
+ m_minkowskiB(objectB),
47
+ m_shapeTypeA(objectA->getShapeType()),
48
+ m_shapeTypeB(objectB->getShapeType()),
49
+ m_marginA(objectA->getMargin()),
50
+ m_marginB(objectB->getMargin()),
51
+ m_ignoreMargin(false),
52
+ m_lastUsedMethod(-1),
53
+ m_catchDegeneracies(1)
54
+ {
55
+ }
56
+ btGjkPairDetector::btGjkPairDetector(const btConvexShape* objectA,const btConvexShape* objectB,int shapeTypeA,int shapeTypeB,btScalar marginA, btScalar marginB, btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver* penetrationDepthSolver)
57
+ :m_cachedSeparatingAxis(btScalar(0.),btScalar(1.),btScalar(0.)),
58
+ m_penetrationDepthSolver(penetrationDepthSolver),
59
+ m_simplexSolver(simplexSolver),
60
+ m_minkowskiA(objectA),
61
+ m_minkowskiB(objectB),
62
+ m_shapeTypeA(shapeTypeA),
63
+ m_shapeTypeB(shapeTypeB),
64
+ m_marginA(marginA),
65
+ m_marginB(marginB),
66
+ m_ignoreMargin(false),
67
+ m_lastUsedMethod(-1),
68
+ m_catchDegeneracies(1)
69
+ {
70
+ }
71
+
72
+ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw,bool swapResults)
73
+ {
74
+ (void)swapResults;
75
+
76
+ getClosestPointsNonVirtual(input,output,debugDraw);
77
+ }
78
+
79
+ #ifdef __SPU__
80
+ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw)
81
+ #else
82
+ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw)
83
+ #endif
84
+ {
85
+ m_cachedSeparatingDistance = 0.f;
86
+
87
+ btScalar distance=btScalar(0.);
88
+ btVector3 normalInB(btScalar(0.),btScalar(0.),btScalar(0.));
89
+ btVector3 pointOnA,pointOnB;
90
+ btTransform localTransA = input.m_transformA;
91
+ btTransform localTransB = input.m_transformB;
92
+ btVector3 positionOffset = (localTransA.getOrigin() + localTransB.getOrigin()) * btScalar(0.5);
93
+ localTransA.getOrigin() -= positionOffset;
94
+ localTransB.getOrigin() -= positionOffset;
95
+
96
+ bool check2d = m_minkowskiA->isConvex2d() && m_minkowskiB->isConvex2d();
97
+
98
+ btScalar marginA = m_marginA;
99
+ btScalar marginB = m_marginB;
100
+
101
+ gNumGjkChecks++;
102
+
103
+ #ifdef DEBUG_SPU_COLLISION_DETECTION
104
+ spu_printf("inside gjk\n");
105
+ #endif
106
+ //for CCD we don't use margins
107
+ if (m_ignoreMargin)
108
+ {
109
+ marginA = btScalar(0.);
110
+ marginB = btScalar(0.);
111
+ #ifdef DEBUG_SPU_COLLISION_DETECTION
112
+ spu_printf("ignoring margin\n");
113
+ #endif
114
+ }
115
+
116
+ m_curIter = 0;
117
+ int gGjkMaxIter = 1000;//this is to catch invalid input, perhaps check for #NaN?
118
+ m_cachedSeparatingAxis.setValue(0,1,0);
119
+
120
+ bool isValid = false;
121
+ bool checkSimplex = false;
122
+ bool checkPenetration = true;
123
+ m_degenerateSimplex = 0;
124
+
125
+ m_lastUsedMethod = -1;
126
+
127
+ {
128
+ btScalar squaredDistance = BT_LARGE_FLOAT;
129
+ btScalar delta = btScalar(0.);
130
+
131
+ btScalar margin = marginA + marginB;
132
+
133
+
134
+
135
+ m_simplexSolver->reset();
136
+
137
+ for ( ; ; )
138
+ //while (true)
139
+ {
140
+
141
+ btVector3 seperatingAxisInA = (-m_cachedSeparatingAxis)* input.m_transformA.getBasis();
142
+ btVector3 seperatingAxisInB = m_cachedSeparatingAxis* input.m_transformB.getBasis();
143
+
144
+ #if 1
145
+
146
+ btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA);
147
+ btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB);
148
+
149
+ // btVector3 pInA = localGetSupportingVertexWithoutMargin(m_shapeTypeA, m_minkowskiA, seperatingAxisInA,input.m_convexVertexData[0]);//, &featureIndexA);
150
+ // btVector3 qInB = localGetSupportingVertexWithoutMargin(m_shapeTypeB, m_minkowskiB, seperatingAxisInB,input.m_convexVertexData[1]);//, &featureIndexB);
151
+
152
+ #else
153
+ #ifdef __SPU__
154
+ btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA);
155
+ btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB);
156
+ #else
157
+ btVector3 pInA = m_minkowskiA->localGetSupportingVertexWithoutMargin(seperatingAxisInA);
158
+ btVector3 qInB = m_minkowskiB->localGetSupportingVertexWithoutMargin(seperatingAxisInB);
159
+ #ifdef TEST_NON_VIRTUAL
160
+ btVector3 pInAv = m_minkowskiA->localGetSupportingVertexWithoutMargin(seperatingAxisInA);
161
+ btVector3 qInBv = m_minkowskiB->localGetSupportingVertexWithoutMargin(seperatingAxisInB);
162
+ btAssert((pInAv-pInA).length() < 0.0001);
163
+ btAssert((qInBv-qInB).length() < 0.0001);
164
+ #endif //
165
+ #endif //__SPU__
166
+ #endif
167
+
168
+
169
+ btVector3 pWorld = localTransA(pInA);
170
+ btVector3 qWorld = localTransB(qInB);
171
+
172
+ #ifdef DEBUG_SPU_COLLISION_DETECTION
173
+ spu_printf("got local supporting vertices\n");
174
+ #endif
175
+
176
+ if (check2d)
177
+ {
178
+ pWorld[2] = 0.f;
179
+ qWorld[2] = 0.f;
180
+ }
181
+
182
+ btVector3 w = pWorld - qWorld;
183
+ delta = m_cachedSeparatingAxis.dot(w);
184
+
185
+ // potential exit, they don't overlap
186
+ if ((delta > btScalar(0.0)) && (delta * delta > squaredDistance * input.m_maximumDistanceSquared))
187
+ {
188
+ m_degenerateSimplex = 10;
189
+ checkSimplex=true;
190
+ //checkPenetration = false;
191
+ break;
192
+ }
193
+
194
+ //exit 0: the new point is already in the simplex, or we didn't come any closer
195
+ if (m_simplexSolver->inSimplex(w))
196
+ {
197
+ m_degenerateSimplex = 1;
198
+ checkSimplex = true;
199
+ break;
200
+ }
201
+ // are we getting any closer ?
202
+ btScalar f0 = squaredDistance - delta;
203
+ btScalar f1 = squaredDistance * REL_ERROR2;
204
+
205
+ if (f0 <= f1)
206
+ {
207
+ if (f0 <= btScalar(0.))
208
+ {
209
+ m_degenerateSimplex = 2;
210
+ } else
211
+ {
212
+ m_degenerateSimplex = 11;
213
+ }
214
+ checkSimplex = true;
215
+ break;
216
+ }
217
+
218
+ #ifdef DEBUG_SPU_COLLISION_DETECTION
219
+ spu_printf("addVertex 1\n");
220
+ #endif
221
+ //add current vertex to simplex
222
+ m_simplexSolver->addVertex(w, pWorld, qWorld);
223
+ #ifdef DEBUG_SPU_COLLISION_DETECTION
224
+ spu_printf("addVertex 2\n");
225
+ #endif
226
+ btVector3 newCachedSeparatingAxis;
227
+
228
+ //calculate the closest point to the origin (update vector v)
229
+ if (!m_simplexSolver->closest(newCachedSeparatingAxis))
230
+ {
231
+ m_degenerateSimplex = 3;
232
+ checkSimplex = true;
233
+ break;
234
+ }
235
+
236
+ if(newCachedSeparatingAxis.length2()<REL_ERROR2)
237
+ {
238
+ m_cachedSeparatingAxis = newCachedSeparatingAxis;
239
+ m_degenerateSimplex = 6;
240
+ checkSimplex = true;
241
+ break;
242
+ }
243
+
244
+ btScalar previousSquaredDistance = squaredDistance;
245
+ squaredDistance = newCachedSeparatingAxis.length2();
246
+ #if 0
247
+ ///warning: this termination condition leads to some problems in 2d test case see Bullet/Demos/Box2dDemo
248
+ if (squaredDistance>previousSquaredDistance)
249
+ {
250
+ m_degenerateSimplex = 7;
251
+ squaredDistance = previousSquaredDistance;
252
+ checkSimplex = false;
253
+ break;
254
+ }
255
+ #endif //
256
+
257
+
258
+ //redundant m_simplexSolver->compute_points(pointOnA, pointOnB);
259
+
260
+ //are we getting any closer ?
261
+ if (previousSquaredDistance - squaredDistance <= SIMD_EPSILON * previousSquaredDistance)
262
+ {
263
+ // m_simplexSolver->backup_closest(m_cachedSeparatingAxis);
264
+ checkSimplex = true;
265
+ m_degenerateSimplex = 12;
266
+
267
+ break;
268
+ }
269
+
270
+ m_cachedSeparatingAxis = newCachedSeparatingAxis;
271
+
272
+ //degeneracy, this is typically due to invalid/uninitialized worldtransforms for a btCollisionObject
273
+ if (m_curIter++ > gGjkMaxIter)
274
+ {
275
+ #if defined(DEBUG) || defined (_DEBUG) || defined (DEBUG_SPU_COLLISION_DETECTION)
276
+
277
+ printf("btGjkPairDetector maxIter exceeded:%i\n",m_curIter);
278
+ printf("sepAxis=(%f,%f,%f), squaredDistance = %f, shapeTypeA=%i,shapeTypeB=%i\n",
279
+ m_cachedSeparatingAxis.getX(),
280
+ m_cachedSeparatingAxis.getY(),
281
+ m_cachedSeparatingAxis.getZ(),
282
+ squaredDistance,
283
+ m_minkowskiA->getShapeType(),
284
+ m_minkowskiB->getShapeType());
285
+
286
+ #endif
287
+ break;
288
+
289
+ }
290
+
291
+
292
+ bool check = (!m_simplexSolver->fullSimplex());
293
+ //bool check = (!m_simplexSolver->fullSimplex() && squaredDistance > SIMD_EPSILON * m_simplexSolver->maxVertex());
294
+
295
+ if (!check)
296
+ {
297
+ //do we need this backup_closest here ?
298
+ // m_simplexSolver->backup_closest(m_cachedSeparatingAxis);
299
+ m_degenerateSimplex = 13;
300
+ break;
301
+ }
302
+ }
303
+
304
+ if (checkSimplex)
305
+ {
306
+ m_simplexSolver->compute_points(pointOnA, pointOnB);
307
+ normalInB = m_cachedSeparatingAxis;
308
+ btScalar lenSqr =m_cachedSeparatingAxis.length2();
309
+
310
+ //valid normal
311
+ if (lenSqr < 0.0001)
312
+ {
313
+ m_degenerateSimplex = 5;
314
+ }
315
+ if (lenSqr > SIMD_EPSILON*SIMD_EPSILON)
316
+ {
317
+ btScalar rlen = btScalar(1.) / btSqrt(lenSqr );
318
+ normalInB *= rlen; //normalize
319
+ btScalar s = btSqrt(squaredDistance);
320
+
321
+ btAssert(s > btScalar(0.0));
322
+ pointOnA -= m_cachedSeparatingAxis * (marginA / s);
323
+ pointOnB += m_cachedSeparatingAxis * (marginB / s);
324
+ distance = ((btScalar(1.)/rlen) - margin);
325
+ isValid = true;
326
+
327
+ m_lastUsedMethod = 1;
328
+ } else
329
+ {
330
+ m_lastUsedMethod = 2;
331
+ }
332
+ }
333
+
334
+ bool catchDegeneratePenetrationCase =
335
+ (m_catchDegeneracies && m_penetrationDepthSolver && m_degenerateSimplex && ((distance+margin) < 0.01));
336
+
337
+ //if (checkPenetration && !isValid)
338
+ if (checkPenetration && (!isValid || catchDegeneratePenetrationCase ))
339
+ {
340
+ //penetration case
341
+
342
+ //if there is no way to handle penetrations, bail out
343
+ if (m_penetrationDepthSolver)
344
+ {
345
+ // Penetration depth case.
346
+ btVector3 tmpPointOnA,tmpPointOnB;
347
+
348
+ gNumDeepPenetrationChecks++;
349
+ m_cachedSeparatingAxis.setZero();
350
+
351
+ bool isValid2 = m_penetrationDepthSolver->calcPenDepth(
352
+ *m_simplexSolver,
353
+ m_minkowskiA,m_minkowskiB,
354
+ localTransA,localTransB,
355
+ m_cachedSeparatingAxis, tmpPointOnA, tmpPointOnB,
356
+ debugDraw,input.m_stackAlloc
357
+ );
358
+
359
+
360
+ if (isValid2)
361
+ {
362
+ btVector3 tmpNormalInB = tmpPointOnB-tmpPointOnA;
363
+ btScalar lenSqr = tmpNormalInB.length2();
364
+ if (lenSqr <= (SIMD_EPSILON*SIMD_EPSILON))
365
+ {
366
+ tmpNormalInB = m_cachedSeparatingAxis;
367
+ lenSqr = m_cachedSeparatingAxis.length2();
368
+ }
369
+
370
+ if (lenSqr > (SIMD_EPSILON*SIMD_EPSILON))
371
+ {
372
+ tmpNormalInB /= btSqrt(lenSqr);
373
+ btScalar distance2 = -(tmpPointOnA-tmpPointOnB).length();
374
+ //only replace valid penetrations when the result is deeper (check)
375
+ if (!isValid || (distance2 < distance))
376
+ {
377
+ distance = distance2;
378
+ pointOnA = tmpPointOnA;
379
+ pointOnB = tmpPointOnB;
380
+ normalInB = tmpNormalInB;
381
+ isValid = true;
382
+ m_lastUsedMethod = 3;
383
+ } else
384
+ {
385
+ m_lastUsedMethod = 8;
386
+ }
387
+ } else
388
+ {
389
+ m_lastUsedMethod = 9;
390
+ }
391
+ } else
392
+
393
+ {
394
+ ///this is another degenerate case, where the initial GJK calculation reports a degenerate case
395
+ ///EPA reports no penetration, and the second GJK (using the supporting vector without margin)
396
+ ///reports a valid positive distance. Use the results of the second GJK instead of failing.
397
+ ///thanks to Jacob.Langford for the reproduction case
398
+ ///http://code.google.com/p/bullet/issues/detail?id=250
399
+
400
+
401
+ if (m_cachedSeparatingAxis.length2() > btScalar(0.))
402
+ {
403
+ btScalar distance2 = (tmpPointOnA-tmpPointOnB).length()-margin;
404
+ //only replace valid distances when the distance is less
405
+ if (!isValid || (distance2 < distance))
406
+ {
407
+ distance = distance2;
408
+ pointOnA = tmpPointOnA;
409
+ pointOnB = tmpPointOnB;
410
+ pointOnA -= m_cachedSeparatingAxis * marginA ;
411
+ pointOnB += m_cachedSeparatingAxis * marginB ;
412
+ normalInB = m_cachedSeparatingAxis;
413
+ normalInB.normalize();
414
+ isValid = true;
415
+ m_lastUsedMethod = 6;
416
+ } else
417
+ {
418
+ m_lastUsedMethod = 5;
419
+ }
420
+ }
421
+ }
422
+
423
+ }
424
+
425
+ }
426
+ }
427
+
428
+
429
+
430
+ if (isValid && ((distance < 0) || (distance*distance < input.m_maximumDistanceSquared)))
431
+ {
432
+ #if 0
433
+ ///some debugging
434
+ // if (check2d)
435
+ {
436
+ printf("n = %2.3f,%2.3f,%2.3f. ",normalInB[0],normalInB[1],normalInB[2]);
437
+ printf("distance = %2.3f exit=%d deg=%d\n",distance,m_lastUsedMethod,m_degenerateSimplex);
438
+ }
439
+ #endif
440
+
441
+ m_cachedSeparatingAxis = normalInB;
442
+ m_cachedSeparatingDistance = distance;
443
+
444
+ output.addContactPoint(
445
+ normalInB,
446
+ pointOnB+positionOffset,
447
+ distance);
448
+
449
+ }
450
+
451
+
452
+ }
453
+
454
+
455
+
456
+
457
+