Merge pull request #4190 from erwincoumans/master

fix build

build3/premake4.lua

@@ -66,7 +66,27 @@
 		trigger = "enable_static_vr_plugin",
 		description = "Statically link vr plugin (in examples/SharedMemory/plugins/vrSyncPlugin)"
 	}
-	
+         newoption
+        {
+                trigger = "enable_static_test_plugin",
+                description = "Statically link test plugin (in examples/SharedMemory/plugins/testPlugin)"
+        }
+         newoption
+        {
+                trigger = "enable_static_tiny_renderer__plugin",
+                description = "Statically link vr plugin (in examples/SharedMemory/plugins/tinyRendererPlugin)"
+        }
+         newoption
+        {
+                trigger = "enable_static_pd_control_plugin",
+                description = "Statically link vr plugin (in examples/SharedMemory/plugins/pdControlPlugin)"
+        }
+         newoption
+        {
+                trigger = "enable_static_collision_filter_plugin",
+                description = "Statically link vr plugin (in examples/SharedMemory/plugins/collisionFilterPlugin)"
+        }
+ 
 	newoption
 	{
 		trigger = "enable_physx",
@@ -319,6 +339,12 @@ end
 		trigger = "no-test",
 		description = "Disable all tests"
 	}
+	newoption
+        {       
+                trigger = "test-bullet2",
+
+                description = "Enable Bullet2 LinearMath test"
+        }
 
 	newoption
 	{
@@ -646,7 +672,9 @@ end
         end
 
 	if not _OPTIONS["no-test"] then
+                if _OPTIONS["test-bullet2"] then
 		include "../test/Bullet2"
+		end
 
 		if not _OPTIONS["no-gtest"] then
 			include "../test/gtest-1.7.0"

examples/ExampleBrowser/premake4.lua

@@ -182,6 +182,7 @@ project "App_BulletExampleBrowser"
 		"../VoronoiFracture/*",
 		"../SoftDemo/*",
 		"../DeformableDemo/*",
+                "../ReducedDeformableDemo/*",
 		"../RollingFrictionDemo/*",
 		"../rbdl/*",
 		"../FractureDemo/*",

examples/SharedMemory/premake4.lua

@@ -123,7 +123,7 @@ if (_OPTIONS["enable_static_vr_plugin"]) then
 	files {"plugins/vrSyncPlugin/vrSyncPlugin.cpp"}
 end
 
-if (not _OPTIONS["disable_static_tinyrenderer_plugin"]) then
+if (_OPTIONS["enable_static_tinyrenderer_plugin"]) then
 	files 
 		{
 		"plugins/tinyRendererPlugin/tinyRendererPlugin.cpp",
@@ -222,7 +222,7 @@ language "C++"
 		
 	end
 
-if (not _OPTIONS["disable_static_tinyrenderer_plugin"]) then
+if ( _OPTIONS["enable_static_tinyrenderer_plugin"]) then
 	files 
 		{
 		"plugins/tinyRendererPlugin/tinyRendererPlugin.cpp",
@@ -381,7 +381,7 @@ if os.is("Windows") then
 		initOpenGL()
 	  initGlew()
 	
-	if (not _OPTIONS["disable_static_tinyrenderer_plugin"]) then
+	if ( _OPTIONS["enable_static_tinyrenderer_plugin"]) then
 	files 
 		{
 		"plugins/tinyRendererPlugin/tinyRendererPlugin.cpp",
@@ -477,13 +477,24 @@ end
 include "udp"
 include "tcp"
 
+if (_OPTIONS["enable_static_test_plugin"]) then
 include "plugins/testPlugin"
+end
+
+if (_OPTIONS["enable_vr_sync_plugin"]) then
 include "plugins/vrSyncPlugin"
+end
+
+if (_OPTIONS["enable_static_tiny_renderer__plugin"]) then
 include "plugins/tinyRendererPlugin"
-
+end
+if (_OPTIONS["enable_static_pd_control_plugin"]) then
 include "plugins/pdControlPlugin"
-include "plugins/collisionFilterPlugin"
+end
 
+if (_OPTIONS["enable_static_collision_filter_plugin"]) then
+include "plugins/collisionFilterPlugin"
+end
 if _OPTIONS["enable_egl"] then
 		include "plugins/eglPlugin"
 end

setup.py

@@ -257,6 +257,10 @@ sources = ["examples/pybullet/pybullet.c"]\
 +["src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp"]\
 +["src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp"]\
 +["src/BulletSoftBody/poly34.cpp"]\
++["src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBody.cpp"]\
++["src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodyHelpers.cpp"]\
++["src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodySolver.cpp"]\
++["src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableContactConstraint.cpp"]\
 +["src/BulletInverseDynamics/IDMath.cpp"]\
 +["src/BulletInverseDynamics/MultiBodyTree.cpp"]\
 +["src/BulletInverseDynamics/details/MultiBodyTreeImpl.cpp"]\

src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp

@@ -103,6 +103,44 @@ void btConvexTriangleCallback::processTriangle(btVector3* triangle, int partId,
 
 	if (m_convexBodyWrap->getCollisionShape()->isConvex())
 	{
+#ifndef BT_DISABLE_CONVEX_CONCAVE_EARLY_OUT		
+		//an early out optimisation if the object is separated from the triangle
+		//projected on the triangle normal)
+		{
+			const btVector3 v0 = m_triBodyWrap->getWorldTransform()*triangle[0];
+			const btVector3 v1 = m_triBodyWrap->getWorldTransform()*triangle[1];
+			const btVector3 v2 = m_triBodyWrap->getWorldTransform()*triangle[2];
+
+			btVector3 triangle_normal_world = ( v1 - v0).cross(v2 - v0);
+			triangle_normal_world.normalize();
+
+		    btConvexShape* convex = (btConvexShape*)m_convexBodyWrap->getCollisionShape();
+			
+			btVector3 localPt = convex->localGetSupportingVertex(m_convexBodyWrap->getWorldTransform().getBasis().inverse()*triangle_normal_world);
+			btVector3 worldPt = m_convexBodyWrap->getWorldTransform()*localPt;
+			//now check if this is fully on one side of the triangle
+			btScalar proj_distPt = triangle_normal_world.dot(worldPt);
+			btScalar proj_distTr = triangle_normal_world.dot(v0);
+			btScalar contact_threshold = m_manifoldPtr->getContactBreakingThreshold()+ m_resultOut->m_closestPointDistanceThreshold;
+			btScalar dist = proj_distTr - proj_distPt;
+			if (dist > contact_threshold)
+				return;
+
+			//also check the other side of the triangle
+			triangle_normal_world*=-1;
+
+			localPt = convex->localGetSupportingVertex(m_convexBodyWrap->getWorldTransform().getBasis().inverse()*triangle_normal_world);
+			worldPt = m_convexBodyWrap->getWorldTransform()*localPt;
+			//now check if this is fully on one side of the triangle
+			proj_distPt = triangle_normal_world.dot(worldPt);
+			proj_distTr = triangle_normal_world.dot(v0);
+			
+			dist = proj_distTr - proj_distPt;
+			if (dist > contact_threshold)
+				return;
+        }
+#endif //BT_DISABLE_CONVEX_CONCAVE_EARLY_OUT
+
 		btTriangleShape tm(triangle[0], triangle[1], triangle[2]);
 		tm.setMargin(m_collisionMarginTriangle);
 
@@ -132,7 +170,10 @@ void btConvexTriangleCallback::processTriangle(btVector3* triangle, int partId,
 			m_resultOut->setShapeIdentifiersB(partId, triangleIndex);
 		}
 
-		colAlgo->processCollision(m_convexBodyWrap, &triObWrap, *m_dispatchInfoPtr, m_resultOut);
+		{
+			BT_PROFILE("processCollision (GJK?)");
+			colAlgo->processCollision(m_convexBodyWrap, &triObWrap, *m_dispatchInfoPtr, m_resultOut);
+		}
 
 		if (m_resultOut->getBody0Internal() == m_triBodyWrap->getCollisionObject())
 		{

src/BulletSoftBody/premake4.lua

@@ -10,5 +10,6 @@
     end
 	files {
 		"**.cpp",
+                "BulletReducedDeformableBody/**.cpp",
 		"**.h"
 	}