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Update Bullet to the latest commit 126b676

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Oussama
2019-01-03 14:26:51 +01:00
committed by Rémi Verschelde
parent a6722cf362
commit 22b7c9dfa8
612 changed files with 114715 additions and 103413 deletions
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49
thirdparty/bullet/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.h vendored
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@@ -23,70 +23,61 @@ subject to the following restrictions:
#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
#include "LinearMath/btTransformUtil.h" //for btConvexSeparatingDistanceUtil
#include "LinearMath/btTransformUtil.h" //for btConvexSeparatingDistanceUtil
class btConvexPenetrationDepthSolver;
///The convex2dConvex2dAlgorithm collision algorithm support 2d collision detection for btConvex2dShape
///Currently it requires the btMinkowskiPenetrationDepthSolver, it has support for 2d penetration depth computation
class btConvex2dConvex2dAlgorithm : public btActivatingCollisionAlgorithm
{
btSimplexSolverInterface* m_simplexSolver;
btSimplexSolverInterface* m_simplexSolver;
btConvexPenetrationDepthSolver* m_pdSolver;
bool m_ownManifold;
btPersistentManifold* m_manifoldPtr;
bool m_lowLevelOfDetail;
bool m_ownManifold;
btPersistentManifold* m_manifoldPtr;
bool m_lowLevelOfDetail;
public:
btConvex2dConvex2dAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold);
btConvex2dConvex2dAlgorithm(btPersistentManifold* mf, const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold);
virtual ~btConvex2dConvex2dAlgorithm();
virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
virtual void processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
virtual btScalar calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
{
///should we use m_ownManifold to avoid adding duplicates?
if (m_manifoldPtr && m_ownManifold)
manifoldArray.push_back(m_manifoldPtr);
}
void setLowLevelOfDetail(bool useLowLevel);
void setLowLevelOfDetail(bool useLowLevel);
const btPersistentManifold* getManifold()
const btPersistentManifold* getManifold()
{
return m_manifoldPtr;
}
struct CreateFunc :public btCollisionAlgorithmCreateFunc
struct CreateFunc : public btCollisionAlgorithmCreateFunc
{
btConvexPenetrationDepthSolver* m_pdSolver;
btSimplexSolverInterface* m_simplexSolver;
btConvexPenetrationDepthSolver* m_pdSolver;
btSimplexSolverInterface* m_simplexSolver;
int m_numPerturbationIterations;
int m_minimumPointsPerturbationThreshold;
CreateFunc(btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver);
CreateFunc(btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver);
virtual ~CreateFunc();
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
{
void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvex2dConvex2dAlgorithm));
return new(mem) btConvex2dConvex2dAlgorithm(ci.m_manifold,ci,body0Wrap,body1Wrap,m_simplexSolver,m_pdSolver,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold);
return new (mem) btConvex2dConvex2dAlgorithm(ci.m_manifold, ci, body0Wrap, body1Wrap, m_simplexSolver, m_pdSolver, m_numPerturbationIterations, m_minimumPointsPerturbationThreshold);
}
};
};
#endif //BT_CONVEX_2D_CONVEX_2D_ALGORITHM_H
#endif //BT_CONVEX_2D_CONVEX_2D_ALGORITHM_H