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Merge branch 'master' of https://github.com/erwincoumans/bullet3

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This commit is contained in:
Erwin Coumans 2017-03-30 12:39:18 -07:00
commit 1c5e5d2b3f
50 changed files with 1546 additions and 1304 deletions
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2
data/cube.urdf
View File

@ -1,5 +1,5 @@
<?xml version="0.0" ?>
<robot name="cube.urdf">
<robot name="cube">
<link name="baseLink">
<contact>
<lateral_friction value="1.0"/>

2
data/plane.urdf
View File

@ -1,5 +1,5 @@
<?xml version="0.0" ?>
<robot name="cube.urdf">
<robot name="plane">
<link name="planeLink">
<contact>
<lateral_friction value="1"/>

10
examples/ExampleBrowser/OpenGLExampleBrowser.cpp
View File

@ -871,6 +871,16 @@ bool OpenGLExampleBrowser::init(int argc, char* argv[])
int width = 1024;
int height=768;
if (args.CheckCmdLineFlag("width"))
{
args.GetCmdLineArgument("width",width );
}
if (args.CheckCmdLineFlag("height"))
{
args.GetCmdLineArgument("height",height);
}
#ifndef NO_OPENGL3
SimpleOpenGL3App* simpleApp=0;
sUseOpenGL2 =args.CheckCmdLineFlag("opengl2");

10
examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
View File

@ -1026,6 +1026,11 @@ struct BulletMJCFImporterInternalData
{
handled = true;
}
if (n=="site")
{
handled = true;
}
if (!handled)
{
logger->reportWarning( (sourceFileLocation(xml) + ": unknown field '" + n + "'").c_str() );
@ -1323,6 +1328,11 @@ int BulletMJCFImporter::getRootLinkIndex() const
return "";
}
std::string BulletMJCFImporter::getBodyName() const
{
return m_data->m_fileModelName;
}
bool BulletMJCFImporter::getLinkColor(int linkIndex, btVector4& colorRGBA) const
{
// UrdfLink* link = m_data->getLink(linkIndex);

2
examples/Importers/ImportMJCFDemo/BulletMJCFImporter.h
View File

@ -42,6 +42,8 @@ public:
///pure virtual interfaces, precondition is a valid linkIndex (you can assert/terminate if the linkIndex is out of range)
virtual std::string getLinkName(int linkIndex) const;
virtual std::string getBodyName() const;
/// optional method to provide the link color. return true if the color is available and copied into colorRGBA, return false otherwise
virtual bool getLinkColor(int linkIndex, btVector4& colorRGBA) const;

13
examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
View File

@ -270,6 +270,11 @@ std::string BulletURDFImporter::getLinkName(int linkIndex) const
return "";
}
std::string BulletURDFImporter::getBodyName() const
{
return m_data->m_urdfParser.getModel().m_name;
}
std::string BulletURDFImporter::getJointName(int linkIndex) const
{
UrdfLink* const* linkPtr = m_data->m_urdfParser.getModel().m_links.getAtIndex(linkIndex);
@ -956,10 +961,16 @@ static void convertURDFToVisualShapeInternal(const UrdfVisual* visual, const cha
}
break;
}
case URDF_GEOM_PLANE:
{
b3Warning("No default visual for URDF_GEOM_PLANE");
break;
}
default:
{
b3Warning("Error: unknown visual geometry type %i\n", visual->m_geometry.m_type);
}
}
//if we have a convex, tesselate into localVertices/localIndices
if ((glmesh==0) && convexColShape)

2
examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
View File

@ -35,6 +35,8 @@ public:
virtual void getLinkChildIndices(int linkIndex, btAlignedObjectArray<int>& childLinkIndices) const;
virtual std::string getBodyName() const;
virtual std::string getLinkName(int linkIndex) const;
virtual bool getLinkColor(int linkIndex, btVector4& colorRGBA) const;

8
examples/Importers/ImportURDFDemo/URDFImporterInterface.h
View File

@ -15,7 +15,6 @@ public:
virtual ~URDFImporterInterface() {}
virtual bool loadURDF(const char* fileName, bool forceFixedBase = false)=0;
virtual bool loadSDF(const char* fileName, bool forceFixedBase = false) { return false;}
@ -27,6 +26,13 @@ public:
///pure virtual interfaces, precondition is a valid linkIndex (you can assert/terminate if the linkIndex is out of range)
virtual std::string getLinkName(int linkIndex) const =0;
//various derived class in internal source code break with new pure virtual methods, so provide some default implementation
virtual std::string getBodyName() const
{
return "";
}
/// optional method to provide the link color. return true if the color is available and copied into colorRGBA, return false otherwise
virtual bool getLinkColor(int linkIndex, btVector4& colorRGBA) const { return false;}

1
examples/SharedMemory/PhysicsClientC_API.cpp
View File

@ -552,7 +552,6 @@ int b3JointControlSetDesiredForceTorque(b3SharedMemoryCommandHandle commandHandl
return 0;
}
b3SharedMemoryCommandHandle b3RequestActualStateCommandInit(b3PhysicsClientHandle physClient, int bodyUniqueId)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;

4
examples/SharedMemory/PhysicsClientSharedMemory.cpp
View File

@ -20,6 +20,7 @@ struct BodyJointInfoCache
{
std::string m_baseName;
btAlignedObjectArray<b3JointInfo> m_jointInfo;
std::string m_bodyName;
};
struct PhysicsClientSharedMemoryInternalData {
@ -106,6 +107,7 @@ bool PhysicsClientSharedMemory::getBodyInfo(int bodyUniqueId, struct b3BodyInfo&
{
BodyJointInfoCache* bodyJoints = *bodyJointsPtr;
info.m_baseName = bodyJoints->m_baseName.c_str();
info.m_bodyName = bodyJoints->m_bodyName.c_str();
return true;
}
@ -306,6 +308,7 @@ void PhysicsClientSharedMemory::processBodyJointInfo(int bodyUniqueId, const Sha
BodyJointInfoCache* bodyJoints = new BodyJointInfoCache;
m_data->m_bodyJointMap.insert(bodyUniqueId,bodyJoints);
bodyJoints->m_bodyName = serverCmd.m_dataStreamArguments.m_bodyName;
for (int i = 0; i < bf.m_multiBodies.size(); i++)
{
@ -418,6 +421,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
BodyJointInfoCache* bodyJoints = new BodyJointInfoCache;
m_data->m_bodyJointMap.insert(bodyUniqueId,bodyJoints);
bodyJoints->m_bodyName = serverCmd.m_dataStreamArguments.m_bodyName;
for (int i = 0; i < bf.m_multiBodies.size(); i++) {

3
examples/SharedMemory/PhysicsDirect.cpp
View File

@ -17,6 +17,7 @@ struct BodyJointInfoCache2
{
std::string m_baseName;
btAlignedObjectArray<b3JointInfo> m_jointInfo;
std::string m_bodyName;
};
@ -605,6 +606,7 @@ void PhysicsDirect::processBodyJointInfo(int bodyUniqueId, const SharedMemorySta
BodyJointInfoCache2* bodyJoints = new BodyJointInfoCache2;
m_data->m_bodyJointMap.insert(bodyUniqueId,bodyJoints);
bodyJoints->m_bodyName = serverCmd.m_dataStreamArguments.m_bodyName;
for (int i = 0; i < bf.m_multiBodies.size(); i++)
{
@ -931,6 +933,7 @@ bool PhysicsDirect::getBodyInfo(int bodyUniqueId, struct b3BodyInfo& info) const
{
BodyJointInfoCache2* bodyJoints = *bodyJointsPtr;
info.m_baseName = bodyJoints->m_baseName.c_str();
info.m_bodyName = bodyJoints->m_bodyName.c_str();
return true;
}

16
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@ -120,6 +120,7 @@ struct InteralBodyData
btMultiBody* m_multiBody;
btRigidBody* m_rigidBody;
int m_testData;
std::string m_bodyName;
btTransform m_rootLocalInertialFrame;
btAlignedObjectArray<btTransform> m_linkLocalInertialFrames;
@ -1579,6 +1580,7 @@ bool PhysicsServerCommandProcessor::processImportedObjects(const char* fileName,
{
btScalar mass = 0;
bodyHandle->m_rootLocalInertialFrame.setIdentity();
bodyHandle->m_bodyName = u2b.getBodyName();
btVector3 localInertiaDiagonal(0,0,0);
int urdfLinkIndex = u2b.getRootLinkIndex();
u2b.getMassAndInertia(urdfLinkIndex, mass,localInertiaDiagonal,bodyHandle->m_rootLocalInertialFrame);
@ -1797,6 +1799,8 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto
btMultiBody* mb = creation.getBulletMultiBody();
btRigidBody* rb = creation.getRigidBody();
bodyHandle->m_bodyName = u2b.getBodyName();
if (useMultiBody)
{
@ -2525,6 +2529,14 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
serverStatusOut.m_type = CMD_BODY_INFO_COMPLETED;
serverStatusOut.m_dataStreamArguments.m_bodyUniqueId = sdfInfoArgs.m_bodyUniqueId;
serverStatusOut.m_dataStreamArguments.m_bodyName[0] = 0;
InternalBodyHandle* bodyHandle = m_data->getHandle(clientCmd.m_calculateJacobianArguments.m_bodyUniqueId);
if (bodyHandle)
{
strcpy(serverStatusOut.m_dataStreamArguments.m_bodyName,bodyHandle->m_bodyName.c_str());
}
serverStatusOut.m_numDataStreamBytes = streamSizeInBytes;
hasStatus = true;
@ -2852,6 +2864,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
serverStatusOut.m_numDataStreamBytes = m_data->m_urdfLinkNameMapper.at(m_data->m_urdfLinkNameMapper.size()-1)->m_memSerializer->getCurrentBufferSize();
}
serverStatusOut.m_dataStreamArguments.m_bodyUniqueId = bodyUniqueId;
InteralBodyData* body = m_data->getHandle(bodyUniqueId);
strcpy(serverStatusOut.m_dataStreamArguments.m_bodyName, body->m_bodyName.c_str());
hasStatus = true;
} else
@ -5217,8 +5231,6 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
break;
}
default:
{
BT_PROFILE("CMD_UNKNOWN");

4
examples/SharedMemory/SharedMemoryCommands.h
View File

@ -103,6 +103,7 @@ struct BulletDataStreamArgs
{
char m_bulletFileName[MAX_FILENAME_LENGTH];
int m_bodyUniqueId;
char m_bodyName[MAX_FILENAME_LENGTH];
};
struct SetJointFeedbackArgs
@ -364,9 +365,6 @@ struct RequestActualStateArgs
int m_bodyUniqueId;
};
struct SendActualStateArgs
{
int m_bodyUniqueId;

1
examples/SharedMemory/SharedMemoryPublic.h
View File

@ -201,6 +201,7 @@ struct b3UserConstraint
struct b3BodyInfo
{
const char* m_baseName;
const char* m_bodyName; // for btRigidBody, it does not have a base, but can still have a body name from urdf
};

3
examples/pybullet/examples/kuka_with_cube.py
View File

@ -49,6 +49,9 @@ trailDuration = 15
logId = p.startStateLogging(p.STATE_LOGGING_GENERIC_ROBOT,"LOG0001.txt",[0,1,2])
for i in xrange(5):
print "Body %d's name is %s." % (i, p.getBodyInfo(i)[1])
while 1:
if (useRealTimeSimulation):
dt = datetime.now()

62
examples/pybullet/pybullet.c
View File

@ -221,6 +221,7 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P
int freeIndex = -1;
int method = eCONNECT_GUI;
int i;
char* options="";
b3PhysicsClientHandle sm = 0;
if (sNumPhysicsClients >= MAX_PHYSICS_CLIENTS)
@ -237,15 +238,24 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P
const char* hostName = "localhost";
int size = PySequence_Size(args);
if (size == 1)
static char* kwlist1[] = {"method","key", "options", NULL};
static char* kwlist2[] = {"method","hostName", "port", "options", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|is", kwlist1, &method,&key,&options))
{
if (!PyArg_ParseTuple(args, "i", &method))
int port = -1;
if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|sis", kwlist2, &method,&hostName, &port,&options))
{
PyErr_SetString(SpamError,
"connectPhysicsServer expected argument GUI, "
"DIRECT, SHARED_MEMORY, UDP or TCP");
return NULL;
} else
{
PyErr_Clear();
if (port>=0)
{
udpPort = port;
tcpPort = port;
}
}
}
@ -264,45 +274,12 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P
}
}
if (size == 2)
{
if (!PyArg_ParseTuple(args, "ii", &method, &key))
{
if (!PyArg_ParseTuple(args, "is", &method, &hostName))
{
PyErr_SetString(SpamError,
"connectPhysicsServer cannot parse second argument (either integer or string)");
return NULL;
}
else
{
PyErr_Clear();
}
}
}
if (size == 3)
{
int port = -1;
if (!PyArg_ParseTuple(args, "isi", &method, &hostName, &port))
{
PyErr_SetString(SpamError,
"connectPhysicsServer 3 arguments: method, hostname, port");
return NULL;
}
if (port >= 0)
{
udpPort = port;
tcpPort = port;
}
}
switch (method)
{
case eCONNECT_GUI:
{
int argc = 0;
char* argv[1] = {0};
int argc = 2;
char* argv[2] = {"unused",options};
#ifdef __APPLE__
sm = b3CreateInProcessPhysicsServerAndConnectMainThread(argc, argv);
@ -1714,8 +1691,9 @@ static PyObject* pybullet_getBodyInfo(PyObject* self, PyObject* args, PyObject*
struct b3BodyInfo info;
if (b3GetBodyInfo(sm, bodyUniqueId, &info))
{
PyObject* pyListJointInfo = PyTuple_New(1);
PyObject* pyListJointInfo = PyTuple_New(2);
PyTuple_SetItem(pyListJointInfo, 0, PyString_FromString(info.m_baseName));
PyTuple_SetItem(pyListJointInfo, 1, PyString_FromString(info.m_bodyName));
return pyListJointInfo;
}
}

2
src/Bullet3OpenCL/RigidBody/b3GpuJacobiContactSolver.cpp
View File

@ -562,7 +562,7 @@ void b3GpuJacobiContactSolver::solveGroupHost(b3RigidBodyData* bodies,b3InertiaD
b3AlignedObjectArray<b3Vector3> deltaAngularVelocities;
deltaLinearVelocities.resize(totalNumSplitBodies);
deltaAngularVelocities.resize(totalNumSplitBodies);
for (int i=0;i<totalNumSplitBodies;i++)
for (unsigned int i=0;i<totalNumSplitBodies;i++)
{
deltaLinearVelocities[i].setZero();
deltaAngularVelocities[i].setZero();

1000
src/BulletCollision/BroadphaseCollision/btAxisSweep3.h
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File diff suppressed because it is too large Load Diff

1022
src/BulletCollision/BroadphaseCollision/btAxisSweep3Internal.h Normal file
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File diff suppressed because it is too large Load Diff

4
src/BulletCollision/BroadphaseCollision/btBroadphaseInterface.h
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@ -41,6 +41,10 @@ struct btBroadphaseRayCallback : public btBroadphaseAabbCallback
btScalar m_lambda_max;
virtual ~btBroadphaseRayCallback() {}
protected:
btBroadphaseRayCallback() {}
};
#include "LinearMath/btVector3.h"

1
src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.cpp
View File

@ -15,3 +15,4 @@ subject to the following restrictions:
#include "btBroadphaseProxy.h"
BT_NOT_EMPTY_FILE // fix warning LNK4221: This object file does not define any previously undefined public symbols, so it will not be used by any link operation that consumes this library

3
src/BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h
View File

@ -23,6 +23,9 @@ struct btBroadphasePair;
///The btOverlappingPairCallback class is an additional optional broadphase user callback for adding/removing overlapping pairs, similar interface to btOverlappingPairCache.
class btOverlappingPairCallback
{
protected:
btOverlappingPairCallback() {}
public:
virtual ~btOverlappingPairCallback()
{

4
src/BulletCollision/CMakeLists.txt
View File

@ -102,6 +102,7 @@ SET(Root_HDRS
../btBulletCollisionCommon.h
)
SET(BroadphaseCollision_HDRS
BroadphaseCollision/btAxisSweep3Internal.h
BroadphaseCollision/btAxisSweep3.h
BroadphaseCollision/btBroadphaseInterface.h
BroadphaseCollision/btBroadphaseProxy.h
@ -189,12 +190,15 @@ SET(CollisionShapes_HDRS
SET(Gimpact_HDRS
Gimpact/btBoxCollision.h
Gimpact/btClipPolygon.h
Gimpact/btContactProcessingStructs.h
Gimpact/btContactProcessing.h
Gimpact/btGenericPoolAllocator.h
Gimpact/btGeometryOperations.h
Gimpact/btGImpactBvhStructs.h
Gimpact/btGImpactBvh.h
Gimpact/btGImpactCollisionAlgorithm.h
Gimpact/btGImpactMassUtil.h
Gimpact/btGImpactQuantizedBvhStructs.h
Gimpact/btGImpactQuantizedBvh.h
Gimpact/btGImpactShape.h
Gimpact/btQuantization.h

3
src/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h
View File

@ -24,12 +24,13 @@ class btActivatingCollisionAlgorithm : public btCollisionAlgorithm
// btCollisionObject* m_colObj0;
// btCollisionObject* m_colObj1;
public:
protected:
btActivatingCollisionAlgorithm (const btCollisionAlgorithmConstructionInfo& ci);
btActivatingCollisionAlgorithm (const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap);
public:
virtual ~btActivatingCollisionAlgorithm();
};

2
src/BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.h
View File

@ -33,8 +33,6 @@ class btDispatcher;
class btCollisionObject;
class btCollisionShape;
typedef bool (*btShapePairCallback)(const btCollisionShape* pShape0, const btCollisionShape* pShape1);
extern btShapePairCallback gCompoundCompoundChildShapePairCallback;
/// btCompoundCompoundCollisionAlgorithm supports collision between two btCompoundCollisionShape shapes
class btCompoundCompoundCollisionAlgorithm : public btCompoundCollisionAlgorithm

5
src/BulletCollision/CollisionDispatch/btManifoldResult.cpp
View File

@ -111,6 +111,7 @@ void btManifoldResult::addContactPoint(const btVector3& normalOnBInWorld,const b
return;
bool isSwapped = m_manifoldPtr->getBody0() != m_body0Wrap->getCollisionObject();
bool isNewCollision = m_manifoldPtr->getNumContacts() == 0;
btVector3 pointA = pointInWorld + normalOnBInWorld * depth;
@ -193,5 +194,9 @@ void btManifoldResult::addContactPoint(const btVector3& normalOnBInWorld,const b
(*gContactAddedCallback)(m_manifoldPtr->getContactPoint(insertIndex),obj0Wrap,newPt.m_partId0,newPt.m_index0,obj1Wrap,newPt.m_partId1,newPt.m_index1);
}
if (gContactStartedCallback && isNewCollision)
{
gContactStartedCallback(m_manifoldPtr);
}
}

4
src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h
View File

@ -93,10 +93,12 @@ protected:
aabbMax = m_localAabbMax;
}
public:
protected:
btPolyhedralConvexAabbCachingShape();
public:
inline void getNonvirtualAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax, btScalar margin) const
{

82
src/BulletCollision/Gimpact/btContactProcessing.h
View File

@ -27,86 +27,7 @@ subject to the following restrictions:
#include "LinearMath/btTransform.h"
#include "LinearMath/btAlignedObjectArray.h"
#include "btTriangleShapeEx.h"
/**
Configuration var for applying interpolation of contact normals
*/
#define NORMAL_CONTACT_AVERAGE 1
#define CONTACT_DIFF_EPSILON 0.00001f
///The GIM_CONTACT is an internal GIMPACT structure, similar to btManifoldPoint.
///@todo: remove and replace GIM_CONTACT by btManifoldPoint.
class GIM_CONTACT
{
public:
btVector3 m_point;
btVector3 m_normal;
btScalar m_depth;//Positive value indicates interpenetration
btScalar m_distance;//Padding not for use
int m_feature1;//Face number
int m_feature2;//Face number
public:
GIM_CONTACT()
{
}
GIM_CONTACT(const GIM_CONTACT & contact):
m_point(contact.m_point),
m_normal(contact.m_normal),
m_depth(contact.m_depth),
m_feature1(contact.m_feature1),
m_feature2(contact.m_feature2)
{
}
GIM_CONTACT(const btVector3 &point,const btVector3 & normal,
btScalar depth, int feature1, int feature2):
m_point(point),
m_normal(normal),
m_depth(depth),
m_feature1(feature1),
m_feature2(feature2)
{
}
//! Calcs key for coord classification
SIMD_FORCE_INLINE unsigned int calc_key_contact() const
{
int _coords[] = {
(int)(m_point[0]*1000.0f+1.0f),
(int)(m_point[1]*1333.0f),
(int)(m_point[2]*2133.0f+3.0f)};
unsigned int _hash=0;
unsigned int *_uitmp = (unsigned int *)(&_coords[0]);
_hash = *_uitmp;
_uitmp++;
_hash += (*_uitmp)<<4;
_uitmp++;
_hash += (*_uitmp)<<8;
return _hash;
}
SIMD_FORCE_INLINE void interpolate_normals( btVector3 * normals,int normal_count)
{
btVector3 vec_sum(m_normal);
for(int i=0;i<normal_count;i++)
{
vec_sum += normals[i];
}
btScalar vec_sum_len = vec_sum.length2();
if(vec_sum_len <CONTACT_DIFF_EPSILON) return;
//GIM_INV_SQRT(vec_sum_len,vec_sum_len); // 1/sqrt(vec_sum_len)
m_normal = vec_sum/btSqrt(vec_sum_len);
}
};
#include "btContactProcessingStructs.h"
class btContactArray:public btAlignedObjectArray<GIM_CONTACT>
{
@ -141,5 +62,4 @@ public:
void merge_contacts_unique(const btContactArray & contacts);
};
#endif // GIM_CONTACT_H_INCLUDED

109
src/BulletCollision/Gimpact/btContactProcessingStructs.h Normal file
View File

@ -0,0 +1,109 @@
#ifndef BT_CONTACT_H_STRUCTS_INCLUDED
#define BT_CONTACT_H_STRUCTS_INCLUDED
/*! \file gim_contact.h
\author Francisco Leon Najera
*/
/*
This source file is part of GIMPACT Library.
For the latest info, see http://gimpact.sourceforge.net/
Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
email: projectileman@yahoo.com
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 "LinearMath/btTransform.h"
#include "LinearMath/btAlignedObjectArray.h"
#include "btTriangleShapeEx.h"
/**
Configuration var for applying interpolation of contact normals
*/
#define NORMAL_CONTACT_AVERAGE 1
#define CONTACT_DIFF_EPSILON 0.00001f
///The GIM_CONTACT is an internal GIMPACT structure, similar to btManifoldPoint.
///@todo: remove and replace GIM_CONTACT by btManifoldPoint.
class GIM_CONTACT
{
public:
btVector3 m_point;
btVector3 m_normal;
btScalar m_depth;//Positive value indicates interpenetration
btScalar m_distance;//Padding not for use
int m_feature1;//Face number
int m_feature2;//Face number
public:
GIM_CONTACT()
{
}
GIM_CONTACT(const GIM_CONTACT & contact):
m_point(contact.m_point),
m_normal(contact.m_normal),
m_depth(contact.m_depth),
m_feature1(contact.m_feature1),
m_feature2(contact.m_feature2)
{
}
GIM_CONTACT(const btVector3 &point,const btVector3 & normal,
btScalar depth, int feature1, int feature2):
m_point(point),
m_normal(normal),
m_depth(depth),
m_feature1(feature1),
m_feature2(feature2)
{
}
//! Calcs key for coord classification
SIMD_FORCE_INLINE unsigned int calc_key_contact() const
{
int _coords[] = {
(int)(m_point[0]*1000.0f+1.0f),
(int)(m_point[1]*1333.0f),
(int)(m_point[2]*2133.0f+3.0f)};
unsigned int _hash=0;
unsigned int *_uitmp = (unsigned int *)(&_coords[0]);
_hash = *_uitmp;
_uitmp++;
_hash += (*_uitmp)<<4;
_uitmp++;
_hash += (*_uitmp)<<8;
return _hash;
}
SIMD_FORCE_INLINE void interpolate_normals( btVector3 * normals,int normal_count)
{
btVector3 vec_sum(m_normal);
for(int i=0;i<normal_count;i++)
{
vec_sum += normals[i];
}
btScalar vec_sum_len = vec_sum.length2();
if(vec_sum_len <CONTACT_DIFF_EPSILON) return;
//GIM_INV_SQRT(vec_sum_len,vec_sum_len); // 1/sqrt(vec_sum_len)
m_normal = vec_sum/btSqrt(vec_sum_len);
}
};
#endif // BT_CONTACT_H_STRUCTS_INCLUDED

80
src/BulletCollision/Gimpact/btGImpactBvh.h
View File

@ -29,31 +29,7 @@ subject to the following restrictions:
#include "btBoxCollision.h"
#include "btTriangleShapeEx.h"
//! Overlapping pair
struct GIM_PAIR
{
int m_index1;
int m_index2;
GIM_PAIR()
{}
GIM_PAIR(const GIM_PAIR & p)
{
m_index1 = p.m_index1;
m_index2 = p.m_index2;
}
GIM_PAIR(int index1, int index2)
{
m_index1 = index1;
m_index2 = index2;
}
};
#include "btGImpactBvhStructs.h"
//! A pairset array
class btPairSet: public btAlignedObjectArray<GIM_PAIR>
@ -74,59 +50,6 @@ public:
}
};
///GIM_BVH_DATA is an internal GIMPACT collision structure to contain axis aligned bounding box
struct GIM_BVH_DATA
{
btAABB m_bound;
int m_data;
};
//! Node Structure for trees
class GIM_BVH_TREE_NODE
{
public:
btAABB m_bound;
protected:
int m_escapeIndexOrDataIndex;
public:
GIM_BVH_TREE_NODE()
{
m_escapeIndexOrDataIndex = 0;
}
SIMD_FORCE_INLINE bool isLeafNode() const
{
//skipindex is negative (internal node), triangleindex >=0 (leafnode)
return (m_escapeIndexOrDataIndex>=0);
}
SIMD_FORCE_INLINE int getEscapeIndex() const
{
//btAssert(m_escapeIndexOrDataIndex < 0);
return -m_escapeIndexOrDataIndex;
}
SIMD_FORCE_INLINE void setEscapeIndex(int index)
{
m_escapeIndexOrDataIndex = -index;
}
SIMD_FORCE_INLINE int getDataIndex() const
{
//btAssert(m_escapeIndexOrDataIndex >= 0);
return m_escapeIndexOrDataIndex;
}
SIMD_FORCE_INLINE void setDataIndex(int index)
{
m_escapeIndexOrDataIndex = index;
}
};
class GIM_BVH_DATA_ARRAY:public btAlignedObjectArray<GIM_BVH_DATA>
{
};
@ -392,5 +315,4 @@ public:
btPairSet & collision_pairs);
};
#endif // GIM_BOXPRUNING_H_INCLUDED

105
src/BulletCollision/Gimpact/btGImpactBvhStructs.h Normal file
View File

@ -0,0 +1,105 @@
#ifndef GIM_BOX_SET_STRUCT_H_INCLUDED
#define GIM_BOX_SET_STRUCT_H_INCLUDED
/*! \file gim_box_set.h
\author Francisco Leon Najera
*/
/*
This source file is part of GIMPACT Library.
For the latest info, see http://gimpact.sourceforge.net/
Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
email: projectileman@yahoo.com
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 "LinearMath/btAlignedObjectArray.h"
#include "btBoxCollision.h"
#include "btTriangleShapeEx.h"
//! Overlapping pair
struct GIM_PAIR
{
int m_index1;
int m_index2;
GIM_PAIR()
{}
GIM_PAIR(const GIM_PAIR & p)
{
m_index1 = p.m_index1;
m_index2 = p.m_index2;
}
GIM_PAIR(int index1, int index2)
{
m_index1 = index1;
m_index2 = index2;
}
};
///GIM_BVH_DATA is an internal GIMPACT collision structure to contain axis aligned bounding box
struct GIM_BVH_DATA
{
btAABB m_bound;
int m_data;
};
//! Node Structure for trees
class GIM_BVH_TREE_NODE
{
public:
btAABB m_bound;
protected:
int m_escapeIndexOrDataIndex;
public:
GIM_BVH_TREE_NODE()
{
m_escapeIndexOrDataIndex = 0;
}
SIMD_FORCE_INLINE bool isLeafNode() const
{
//skipindex is negative (internal node), triangleindex >=0 (leafnode)
return (m_escapeIndexOrDataIndex>=0);
}
SIMD_FORCE_INLINE int getEscapeIndex() const
{
//btAssert(m_escapeIndexOrDataIndex < 0);
return -m_escapeIndexOrDataIndex;
}
SIMD_FORCE_INLINE void setEscapeIndex(int index)
{
m_escapeIndexOrDataIndex = -index;
}
SIMD_FORCE_INLINE int getDataIndex() const
{
//btAssert(m_escapeIndexOrDataIndex >= 0);
return m_escapeIndexOrDataIndex;
}
SIMD_FORCE_INLINE void setDataIndex(int index)
{
m_escapeIndexOrDataIndex = index;
}
};
#endif // GIM_BOXPRUNING_H_INCLUDED

69
src/BulletCollision/Gimpact/btGImpactQuantizedBvh.h
View File

@ -26,73 +26,7 @@ subject to the following restrictions:
#include "btGImpactBvh.h"
#include "btQuantization.h"
///btQuantizedBvhNode is a compressed aabb node, 16 bytes.
///Node can be used for leafnode or internal node. Leafnodes can point to 32-bit triangle index (non-negative range).
ATTRIBUTE_ALIGNED16 (struct) BT_QUANTIZED_BVH_NODE
{
//12 bytes
unsigned short int m_quantizedAabbMin[3];
unsigned short int m_quantizedAabbMax[3];
//4 bytes
int m_escapeIndexOrDataIndex;
BT_QUANTIZED_BVH_NODE()
{
m_escapeIndexOrDataIndex = 0;
}
SIMD_FORCE_INLINE bool isLeafNode() const
{
//skipindex is negative (internal node), triangleindex >=0 (leafnode)
return (m_escapeIndexOrDataIndex>=0);
}
SIMD_FORCE_INLINE int getEscapeIndex() const
{
//btAssert(m_escapeIndexOrDataIndex < 0);
return -m_escapeIndexOrDataIndex;
}
SIMD_FORCE_INLINE void setEscapeIndex(int index)
{
m_escapeIndexOrDataIndex = -index;
}
SIMD_FORCE_INLINE int getDataIndex() const
{
//btAssert(m_escapeIndexOrDataIndex >= 0);
return m_escapeIndexOrDataIndex;
}
SIMD_FORCE_INLINE void setDataIndex(int index)
{
m_escapeIndexOrDataIndex = index;
}
SIMD_FORCE_INLINE bool testQuantizedBoxOverlapp(
unsigned short * quantizedMin,unsigned short * quantizedMax) const
{
if(m_quantizedAabbMin[0] > quantizedMax[0] ||
m_quantizedAabbMax[0] < quantizedMin[0] ||
m_quantizedAabbMin[1] > quantizedMax[1] ||
m_quantizedAabbMax[1] < quantizedMin[1] ||
m_quantizedAabbMin[2] > quantizedMax[2] ||
m_quantizedAabbMax[2] < quantizedMin[2])
{
return false;
}
return true;
}
};
#include "btGImpactQuantizedBvhStructs.h"
class GIM_QUANTIZED_BVH_NODE_ARRAY:public btAlignedObjectArray<BT_QUANTIZED_BVH_NODE>
{
@ -368,5 +302,4 @@ public:
btPairSet & collision_pairs);
};
#endif // GIM_BOXPRUNING_H_INCLUDED

91
src/BulletCollision/Gimpact/btGImpactQuantizedBvhStructs.h Normal file
View File

@ -0,0 +1,91 @@
#ifndef GIM_QUANTIZED_SET_STRUCTS_H_INCLUDED
#define GIM_QUANTIZED_SET_STRUCTS_H_INCLUDED
/*! \file btGImpactQuantizedBvh.h
\author Francisco Leon Najera
*/
/*
This source file is part of GIMPACT Library.
For the latest info, see http://gimpact.sourceforge.net/
Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
email: projectileman@yahoo.com
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 "btGImpactBvh.h"
#include "btQuantization.h"
///btQuantizedBvhNode is a compressed aabb node, 16 bytes.
///Node can be used for leafnode or internal node. Leafnodes can point to 32-bit triangle index (non-negative range).
ATTRIBUTE_ALIGNED16 (struct) BT_QUANTIZED_BVH_NODE
{
//12 bytes
unsigned short int m_quantizedAabbMin[3];
unsigned short int m_quantizedAabbMax[3];
//4 bytes
int m_escapeIndexOrDataIndex;
BT_QUANTIZED_BVH_NODE()
{
m_escapeIndexOrDataIndex = 0;
}
SIMD_FORCE_INLINE bool isLeafNode() const
{
//skipindex is negative (internal node), triangleindex >=0 (leafnode)
return (m_escapeIndexOrDataIndex>=0);
}
SIMD_FORCE_INLINE int getEscapeIndex() const
{
//btAssert(m_escapeIndexOrDataIndex < 0);
return -m_escapeIndexOrDataIndex;
}
SIMD_FORCE_INLINE void setEscapeIndex(int index)
{
m_escapeIndexOrDataIndex = -index;
}
SIMD_FORCE_INLINE int getDataIndex() const
{
//btAssert(m_escapeIndexOrDataIndex >= 0);
return m_escapeIndexOrDataIndex;
}
SIMD_FORCE_INLINE void setDataIndex(int index)
{
m_escapeIndexOrDataIndex = index;
}
SIMD_FORCE_INLINE bool testQuantizedBoxOverlapp(
unsigned short * quantizedMin,unsigned short * quantizedMax) const
{
if(m_quantizedAabbMin[0] > quantizedMax[0] ||
m_quantizedAabbMax[0] < quantizedMin[0] ||
m_quantizedAabbMin[1] > quantizedMax[1] ||
m_quantizedAabbMax[1] < quantizedMin[1] ||
m_quantizedAabbMin[2] > quantizedMax[2] ||
m_quantizedAabbMax[2] < quantizedMin[2])
{
return false;
}
return true;
}
};
#endif // GIM_QUANTIZED_SET_STRUCTS_H_INCLUDED

2
src/BulletCollision/Gimpact/gim_array.h
View File

@ -228,7 +228,7 @@ public:
inline void push_back_memcpy(const T & obj)
{
this->growingCheck();
irr_simd_memcpy(&m_data[m_size],&obj,sizeof(T));
gim_simd_memcpy(&m_data[m_size],&obj,sizeof(T));
m_size++;
}

7
src/BulletCollision/Gimpact/gim_basic_geometry_operations.h
View File

@ -41,10 +41,13 @@ email: projectileman@yahoo.com
#ifndef PLANEDIREPSILON
#define PLANEDIREPSILON 0.0000001f
#define PARALELENORMALS 0.000001f
#endif
#ifndef PARALELENORMALS
#define PARALELENORMALS 0.000001f
#endif
#define TRIANGLE_NORMAL(v1,v2,v3,n)\
{\

9
src/BulletCollision/Gimpact/gim_box_collision.h
View File

@ -97,6 +97,8 @@ email: projectileman@yahoo.com
// return test_cross_edge_box(edge,absolute_edge,pointa,pointb,extend,1,0,0,1);
//}
#ifndef TEST_CROSS_EDGE_BOX_MCR
#define TEST_CROSS_EDGE_BOX_MCR(edge,absolute_edge,pointa,pointb,_extend,i_dir_0,i_dir_1,i_comp_0,i_comp_1)\
{\
const btScalar dir0 = -edge[i_dir_0];\
@ -113,6 +115,7 @@ email: projectileman@yahoo.com
if(pmin>rad || -rad>pmax) return false;\
}\
#endif
#define TEST_CROSS_EDGE_BOX_X_AXIS_MCR(edge,absolute_edge,pointa,pointb,_extend)\
{\
@ -190,8 +193,9 @@ public:
}
};
#ifndef BOX_PLANE_EPSILON
#define BOX_PLANE_EPSILON 0.000001f
#endif
//! Axis aligned box
class GIM_AABB
@ -571,7 +575,7 @@ public:
}
};
#ifndef BT_BOX_COLLISION_H_INCLUDED
//! Compairison of transformation objects
SIMD_FORCE_INLINE bool btCompareTransformsEqual(const btTransform & t1,const btTransform & t2)
{
@ -582,6 +586,7 @@ SIMD_FORCE_INLINE bool btCompareTransformsEqual(const btTransform & t1,const btT
if(!(t1.getBasis().getRow(2) == t2.getBasis().getRow(2)) ) return false;
return true;
}
#endif

8
src/BulletCollision/Gimpact/gim_contact.h
View File

@ -40,8 +40,15 @@ email: projectileman@yahoo.com
/**
Configuration var for applying interpolation of contact normals
*/
#ifndef NORMAL_CONTACT_AVERAGE
#define NORMAL_CONTACT_AVERAGE 1
#endif
#ifndef CONTACT_DIFF_EPSILON
#define CONTACT_DIFF_EPSILON 0.00001f
#endif
#ifndef BT_CONTACT_H_STRUCTS_INCLUDED
/// Structure for collision results
///Functions for managing and sorting contacts resulting from a collision query.
@ -121,6 +128,7 @@ public:
};
#endif
class gim_contact_array:public gim_array<GIM_CONTACT>
{

3
src/BulletCollision/Gimpact/gim_tri_collision.h
View File

@ -38,8 +38,9 @@ email: projectileman@yahoo.com
#ifndef MAX_TRI_CLIPPING
#define MAX_TRI_CLIPPING 16
#endif
//! Structure for collision
struct GIM_TRIANGLE_CONTACT_DATA

4
src/BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h
View File

@ -67,10 +67,12 @@ struct btStorageResult : public btDiscreteCollisionDetectorInterface::Result
btVector3 m_closestPointInB;
btScalar m_distance; //negative means penetration !
protected:
btStorageResult() : m_distance(btScalar(BT_LARGE_FLOAT))
{
}
public:
virtual ~btStorageResult() {};
virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth)

2
src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp
View File

@ -21,6 +21,8 @@ subject to the following restrictions:
btScalar gContactBreakingThreshold = btScalar(0.02);
ContactDestroyedCallback gContactDestroyedCallback = 0;
ContactProcessedCallback gContactProcessedCallback = 0;
ContactStartedCallback gContactStartedCallback = 0;
ContactEndedCallback gContactEndedCallback = 0;
///gContactCalcArea3Points will approximate the convex hull area using 3 points
///when setting it to false, it will use 4 points to compute the area: it is more accurate but slower
bool gContactCalcArea3Points = true;

18
src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h
View File

@ -28,10 +28,18 @@ struct btCollisionResult;
///maximum contact breaking and merging threshold
extern btScalar gContactBreakingThreshold;
#ifndef SWIG
class btPersistentManifold;
typedef bool (*ContactDestroyedCallback)(void* userPersistentData);
typedef bool (*ContactProcessedCallback)(btManifoldPoint& cp,void* body0,void* body1);
typedef void (*ContactStartedCallback)(btPersistentManifold* const &manifold);
typedef void (*ContactEndedCallback)(btPersistentManifold* const &manifold);
extern ContactDestroyedCallback gContactDestroyedCallback;
extern ContactProcessedCallback gContactProcessedCallback;
extern ContactStartedCallback gContactStartedCallback;
extern ContactEndedCallback gContactEndedCallback;
#endif //SWIG
//the enum starts at 1024 to avoid type conflicts with btTypedConstraint
enum btContactManifoldTypes
@ -171,6 +179,11 @@ public:
btAssert(m_pointCache[lastUsedIndex].m_userPersistentData==0);
m_cachedPoints--;
if (gContactEndedCallback && m_cachedPoints == 0)
{
gContactEndedCallback(this);
}
}
void replaceContactPoint(const btManifoldPoint& newPoint, int insertIndex)
{
@ -235,6 +248,11 @@ public:
{
clearUserCache(m_pointCache[i]);
}
if (gContactEndedCallback && m_cachedPoints)
{
gContactEndedCallback(this);
}
m_cachedPoints = 0;
}

4
src/BulletDynamics/ConstraintSolver/btContactConstraint.h
View File

@ -28,11 +28,13 @@ protected:
btPersistentManifold m_contactManifold;
public:
protected:
btContactConstraint(btPersistentManifold* contactManifold,btRigidBody& rbA,btRigidBody& rbB);
public:
void setContactManifold(btPersistentManifold* contactManifold);
btPersistentManifold* getContactManifold()

2
src/BulletDynamics/Vehicle/btRaycastVehicle.h
View File

@ -19,7 +19,7 @@ class btDynamicsWorld;
#include "btWheelInfo.h"
#include "BulletDynamics/Dynamics/btActionInterface.h"
class btVehicleTuning;
//class btVehicleTuning;
///rayCast vehicle, very special constraint that turn a rigidbody into a vehicle.
class btRaycastVehicle : public btActionInterface

2
src/BulletDynamics/Vehicle/btWheelInfo.h
View File

@ -79,6 +79,8 @@ struct btWheelInfo
void* m_clientInfo;//can be used to store pointer to sync transforms...
btWheelInfo() {}
btWheelInfo(btWheelInfoConstructionInfo& ci)
{

19
src/BulletInverseDynamics/IDConfig.hpp
View File

@ -68,6 +68,10 @@ typedef btScalar idScalar;
#ifdef BT_USE_DOUBLE_PRECISION
#define BT_ID_USE_DOUBLE_PRECISION
#endif
#ifndef BT_USE_INVERSE_DYNAMICS_WITH_BULLET2
// use bullet types for arrays and array indices
#include "Bullet3Common/b3AlignedObjectArray.h"
// this is to make it work with C++2003, otherwise we could do this:
@ -78,7 +82,20 @@ struct idArray {
typedef b3AlignedObjectArray<T> type;
};
typedef int idArrayIdx;
#define ID_DECLARE_ALIGNED_ALLOCATOR B3_DECLARE_ALIGNED_ALLOCATOR
#define ID_DECLARE_ALIGNED_ALLOCATOR() B3_DECLARE_ALIGNED_ALLOCATOR()
#else // BT_USE_INVERSE_DYNAMICS_WITH_BULLET2
#include "LinearMath/btAlignedObjectArray.h"
template <typename T>
struct idArray {
typedef btAlignedObjectArray<T> type;
};
typedef int idArrayIdx;
#define ID_DECLARE_ALIGNED_ALLOCATOR() BT_DECLARE_ALIGNED_ALLOCATOR()
#endif // BT_USE_INVERSE_DYNAMICS_WITH_BULLET2
// use bullet's allocator functions
#define idMalloc btAllocFunc

7
src/BulletInverseDynamics/IDErrorMessages.hpp
View File

@ -5,7 +5,7 @@
/// name of file being compiled, without leading path components
#define __INVDYN_FILE_WO_DIR__ (strrchr(__FILE__, '/') ? strrchr(__FILE__, '/') + 1 : __FILE__)
#ifndef BT_ID_WO_BULLET
#if !defined(BT_ID_WO_BULLET) && !defined(BT_USE_INVERSE_DYNAMICS_WITH_BULLET2)
#include "Bullet3Common/b3Logging.h"
#define error_message(...) b3Error(__VA_ARGS__)
#define warning_message(...) b3Warning(__VA_ARGS__)
@ -19,11 +19,6 @@
fprintf(stderr, __VA_ARGS__); \
} while (0)
/// print warning message with file/line information
#define warning_message(...) \
do { \
fprintf(stderr, "[Warning:%s:%d] ", __INVDYN_FILE_WO_DIR__, __LINE__); \
fprintf(stderr, __VA_ARGS__); \
} while (0)
#define warning_message(...) \
do { \
fprintf(stderr, "[Warning:%s:%d] ", __INVDYN_FILE_WO_DIR__, __LINE__); \

2
src/BulletSoftBody/btSoftBody.h
View File

@ -617,7 +617,7 @@ public:
RayFromToCaster(const btVector3& rayFrom,const btVector3& rayTo,btScalar mxt);
void Process(const btDbvtNode* leaf);
static inline btScalar rayFromToTriangle(const btVector3& rayFrom,
static /*inline*/ btScalar rayFromToTriangle(const btVector3& rayFrom,
const btVector3& rayTo,
const btVector3& rayNormalizedDirection,
const btVector3& a,

2
src/BulletSoftBody/btSoftMultiBodyDynamicsWorld.h
View File

@ -20,7 +20,9 @@ subject to the following restrictions:
#include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h"
#include "BulletSoftBody/btSoftBody.h"
#ifndef BT_SOFT_RIGID_DYNAMICS_WORLD_H
typedef btAlignedObjectArray<btSoftBody*> btSoftBodyArray;
#endif
class btSoftBodySolver;

4
src/LinearMath/btQuickprof.h
View File

@ -65,9 +65,11 @@ btLeaveProfileZoneFunc* btGetCurrentLeaveProfileZoneFunc();
void btSetCustomEnterProfileZoneFunc(btEnterProfileZoneFunc* enterFunc);
void btSetCustomLeaveProfileZoneFunc(btLeaveProfileZoneFunc* leaveFunc);
#ifndef BT_NO_PROFILE // FIX redefinition
//To disable built-in profiling, please comment out next line
//#define BT_NO_PROFILE 1
#endif //BT_NO_PROFILE
#ifndef BT_NO_PROFILE
//btQuickprofGetCurrentThreadIndex will return -1 if thread index cannot be determined,
//otherwise returns thread index in range [0..maxThreads]

22
src/LinearMath/btScalar.h
View File

@ -32,6 +32,28 @@ inline int btGetVersion()
return BT_BULLET_VERSION;
}
// The following macro "BT_NOT_EMPTY_FILE" can be put into a file
// in order suppress the MS Visual C++ Linker warning 4221
//
// warning LNK4221: no public symbols found; archive member will be inaccessible
//
// This warning occurs on PC and XBOX when a file compiles out completely
// has no externally visible symbols which may be dependant on configuration
// #defines and options.
//
// see more https://stackoverflow.com/questions/1822887/what-is-the-best-way-to-eliminate-ms-visual-c-linker-warning-warning-lnk422
#if defined (_MSC_VER)
#define BT_NOT_EMPTY_FILE_CAT_II(p, res) res
#define BT_NOT_EMPTY_FILE_CAT_I(a, b) BT_NOT_EMPTY_FILE_CAT_II(~, a ## b)
#define BT_NOT_EMPTY_FILE_CAT(a, b) BT_NOT_EMPTY_FILE_CAT_I(a, b)
#define BT_NOT_EMPTY_FILE namespace { char BT_NOT_EMPTY_FILE_CAT(NoEmptyFileDummy, __COUNTER__); }
#else
#define BT_NOT_EMPTY_FILE
#endif
// clang and most formatting tools don't support indentation of preprocessor guards, so turn it off
// clang-format off
#if defined(DEBUG) || defined (_DEBUG)